Method for detecting a surrounding area relevant for a driving manoeuvre of a vehicle in a surroundings of the vehicle, as well as method for performing a corresponding driving manoeuvre, sensor system and vehicle

Abstract

The invention relates to a method for detecting a surrounding area (35) relevant for a driving manoeuvre (47) of a vehicle (1), comprising: - determining an antenna area (38) which has a field of view (37) with which the surrounding area (35) can be detected, - checking the field of view (37) to see whether a partial area (40, 55, 56) of the field of view (37) is obscured, - adapting a longitudinal guidance and / or a transverse guidance of the vehicle (1) on the basis of the obscured partial area (40, 55, 56) in such a way that a field of view (41, 57, 58) of an antenna element (42, 59, 60) at least partially overlaps the obscured partial area (40, 55, 56), whereby the obscured partial area (40, 55, 56) can be detected with the antenna element (42, 59, 60), - expanding the field of view (37) on the basis of the field of view (41, 57, 58), - detecting the surrounding area (35) on the basis of the expanded field of view (37). The invention further relates to a method for carrying out a driving manoeuvre (47) and also to a sensor system (2) and a vehicle (1).

Description

[0001] Description

[0002] Method for detecting an area of ​​the vehicle's surroundings relevant for a driving maneuver of a vehicle, as well as method for carrying out a corresponding driving maneuver, sensor system and vehicle

[0003] The invention relates to a method for detecting an environmental region of the vehicle's surroundings that is relevant for a driving maneuver of a vehicle, wherein the surroundings are detected with an antenna array of a sensor system.

[0004] Furthermore, the invention relates to a method for carrying out a driving maneuver of a vehicle.

[0005] The invention also relates to a sensor system with at least one antenna array and an electronic evaluation unit.

[0006] Furthermore, the invention relates to a vehicle with a sensor system.

[0007] For example, US 2022 / 0231406 A1 discloses a radar antenna arrangement for a vehicle, which comprises a plurality of antenna elements configured to transmit and receive radar signals. The antenna elements can be arranged on the vehicle.

[0008] Furthermore, US 2020 / 0 103 504 A1 discloses a lidar system based on a photonic circuit. This system can detect objects, particularly in the vicinity of a vehicle. This information, obtained by the lidar system's sensors, can be provided to a navigation system for navigating the vehicle.

[0009] Furthermore, DE 102021 128 147 A1 discloses an antenna device for a motor vehicle for transmitting and / or receiving electromagnetic radiation, comprising at least one first antenna element which is designed on the basis of liquid crystal technology for transmitting or receiving electromagnetic radiation and comprising an electronic computing device which is designed to generate a control signal for the at least first antenna element.

[0010] An object of the present invention is to enable improved detection of the surroundings of a vehicle in order to be able to carry out driving maneuvers of the vehicle more safely.

[0011] This problem is solved by a method, a sensor system, and a vehicle according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0012] One aspect of the invention relates to a method for detecting an environmental area of ​​the vehicle's surroundings that is relevant for a driving maneuver of a vehicle, wherein

[0013] - In particular, the environment is detected with an antenna array of a sensor system, comprising:

[0014] - In particular, determining an antenna area of ​​the antenna array which has a field of view with which the surrounding area relevant for the driving maneuver of the vehicle can be detected,

[0015] - In particular, checking the field of view of the antenna area to see whether at least part of the field of view is obscured,

[0016] - In particular, at least temporarily adjusting a longitudinal guidance and / or a transverse guidance of the vehicle on the basis of the at least one concealed partial area of ​​the field of view such that at least one field of view of at least one antenna element of the antenna area at least partially overlaps the at least one concealed partial area of ​​the field of view of the antenna area, whereby the at least one concealed partial area of ​​the field of view of the antenna area can be at least partially detected by the at least one antenna element,

[0017] - In particular, expanding the field of view of the antenna area based on the field of view of the at least one antenna element,

[0018] - In particular, detecting the surrounding area based on the extended field of view.

[0019] The proposed method enables the detection of the surroundings, the environment, or an environmental region of a vehicle to be carried out more efficiently, since if the field of view of a detection unit is at least partially restricted, this restriction or impairment can be resolved in order to expand the field of view (FoV). This makes it possible to reliably detect, in particular, a part of an environment or an environmental region that may be relevant or critical for performing a driving maneuver of the vehicle. The proposed method thus enables efficient detection of the environment, whereby driving maneuvers of the vehicle can be carried out more safely and, in particular, more reliably. By expanding the field of view of the antenna area according to the invention, cost savings can be achieved because the number of sensor systems can be reduced.Above all, the proposed method offers the advantage that, instead of attaching several different sensor systems to the vehicle, the field of view of one or more antenna elements can be adjusted or set by at least temporarily adjusting the vehicle's longitudinal and / or lateral guidance, thereby expanding the obscured portion of the actual field of view. Thus, situation-adapted, temporary interventions in a vehicle's driving behavior can lead to improved and, in particular, more accurate environmental detection.

[0020] The proposed method is particularly advantageous for overtaking or turning maneuvers. Furthermore, it can also be used advantageously in other vehicle-related situations where precise detection of the surroundings is important.

[0021] In particular, the proposed method enables safe initiation and execution of driving maneuvers by successively enlarging the aperture of the antenna array with a clear field of view.

[0022] Due to physical relationships, the angular resolution of a sensor system, especially a radar system, is determined by the size of its antenna aperture. The antenna aperture is the area over which the individual antennas are distributed. Current sensor systems are usually modules measuring approximately 10 x 10 cm. 2, limited by the ability to integrate into vehicles. The angular resolution is accordingly limited to approximately 2 degrees. The resolving power improves proportionally to the size of the aperture. If two objects are to be resolved in terms of angle, i.e. in azimuth and elevation, an aperture extended in two directions is required. This is where the present invention comes into play and can provide a remedy. The second important parameter in an antenna array is the distance between the individual antenna elements. This determines the measurable angular range. Larger antenna distances lead to ambiguities, such as secondary peaks in the angle measurement. Radar systems in the automotive sector therefore use so-called virtual antenna elements. Such a virtual element is created from the combination of a transmitting antenna with a receiving channel, precisely in the center of the connection vector.With n transmit antennas and m receive antennas, a virtual array of up to nxm elements can be created. This principle is commonly known as "Multiple Input Multiple Output (MIMO)." The proposed method can increase the clearly measurable angular range of the antenna array.

[0023] Conventional radars and lidars are installed centrally and are prone to obscuring the field of view, or multiple radars must be installed at the edges of the field of view. This is not necessary with the proposed method, because instead of the costly and space-intensive installation of additional radars, targeted steering interventions or interventions in the driving behavior are used to at least temporarily position antenna elements in such a way that an obscured area can be at least partially detected.

[0024] The proposed method utilizes miniaturized, photonically cointegrated radar chips in a coherently distributed, thinned array or antenna array. This antenna array can be integrated over a large area in or on the vehicle.

[0025] In the present method, the unblocked field of view of the antenna array is adapted or online adapted and gradually enlarged during a driving maneuver with the aim of detecting the surroundings or surrounding area necessary for the maneuver.

[0026] In addition to cost savings, this method also offers advantages in terms of increased comfort and accident prevention. On the one hand, the improved detection of the surroundings makes it easier to prevent collisions and accidents. Likewise, the improved detection of the surroundings makes it possible to provide the driver or a vehicle system with more precise information about the surroundings, thus improving the vehicle's overall handling. This means that the improved detection of the surroundings can prevent the execution or initiation of a driving maneuver that would otherwise have to be immediately reversed due to the dangers of a certain level. This can reduce the number of unnecessary driving maneuvers.

[0027] The surrounding area of ​​the vehicle's surroundings is the area within the environment within which the driving maneuver takes place or is carried out, at least in part. For example, during an overtaking maneuver, the relevant surrounding area would be the area in front of the vehicle. During a turning maneuver, for example, the area into which the vehicle will turn would be relevant. These two examples are intended to provide a brief overview of what is meant by a relevant surrounding area.

[0028] The vehicle's sensor system can be designed, in particular, as an environment detection system. For this purpose, the sensor system can comprise one or more antenna arrays, which can be distributed throughout the vehicle.

[0029] The antenna array may comprise a plurality of antenna elements. These, in particular a plurality of, antenna elements may be configured as transmitting elements, receiving elements, or transceiving elements.

[0030] First, the system can determine the direction or spatial area in relation to the vehicle in which the maneuver is or should be performed. Vehicle data, map data, or navigation data, for example, can be considered for this purpose. Accordingly, once the location or direction in which the maneuver is or should be performed has been determined, the antenna range of the antenna array can be determined. An antenna range can be individual antenna elements of the antenna array. In particular, the antenna range can be referred to as a partial antenna array.

[0031] The antenna area has a field of view in which the surrounding area relevant for the driving maneuver can be at least partially, in particular completely, detected or recorded. Subsequently, the system can check or determine whether there are at least partial obscurations in the field of view of the antenna area relevant for the driving maneuver to be performed. To gain a better understanding of this, using the example of an overtaking maneuver, the area in front of the vehicle can correspond to the field of view. If, for example, a truck or a bus is in front of the vehicle, this field of view can be at least partially obscured or impaired.To check the field of view, the individual antenna elements of the antenna area can, in turn, determine whether there are any interfering objects within the field of view that at least partially obscure the field of view by transmitting and receiving signals, such as radar signals. Based on the obscured partial area, the system can determine to what extent a longitudinal and / or lateral guidance of the vehicle needs to be adjusted in order to at least temporarily position or move at least one antenna element or several antenna elements of the antenna area such that a field of view of at least one antenna element is superimposed, in particular at least partially superimposed, with the obscured partial area of ​​the field of view of the antenna area.

[0032] In other words, it is first checked which area or sub-area of ​​the field of view of the antenna area is obscured, and the vehicle's driving behavior or movement sequence is then adjusted accordingly such that at least one antenna element of the antenna area is changed in its position relative to an initial position of the antenna area, for example by moving the vehicle, such that the obscured sub-area of ​​the field of view of the antenna area is or can be detected at least partially, in particular completely, with this antenna element. In other words, the field of view or the aperture of the antenna area can be enlarged by performing temporary detection driving maneuvers.Subsequently, the system can expand or adjust the field of view of the antenna area based on the field of view of at least one antenna element. This expanded field of view allows the surrounding area relevant to the driving maneuver to be captured better, in particular completely, particularly essentially completely.

[0033] By checking and expanding the field of view, it is possible to determine whether sufficient environmental detection is possible before the actual detection with minimal computational effort.

[0034] The present method offers the advantage, for example, that the antenna elements of the antenna array can be installed at any position in and / or on the vehicle. Furthermore, it offers the advantage that the usable aperture of the antenna array can be successively enlarged or adjusted in order to make driving functions, such as performing driving maneuvers, feasible. Above all, the proposed method can be used to adaptively modify the antenna array depending on the respective functional requirements of a driving maneuver to be performed. The present invention has particular advantages in that the antenna array can be subdivided into sub-antenna arrays in order to adapt the resolution in specific fields of view.

[0035] In one embodiment, information relating to the detected environmental area is provided to a driver assistance system of the vehicle, with which the driving maneuver can be carried out, and / or to a safety system of the vehicle, with which a user of the vehicle can be assisted in carrying out the driving maneuver. With the aid of the detected environmental area, corresponding information can be provided to vehicle systems and thus to the vehicle and / or the user or driver of the vehicle. With the aid of the driver assistance system, the driving maneuver can be carried out at least partially or fully automatically. Thus, based on the detected environmental area, the system can determine how the driving maneuver is to be carried out and whether any obstacles or objects are present to which the driver assistance system must adapt.It is also conceivable that the driving maneuver is carried out at least partially by the vehicle's user. Based on the detected surrounding area and the information in which this can be provided, the user can be supported if a dangerous situation is detected. In particular, the safety system can intervene at least partially in the steering behavior. Depending on the situation, emergency braking can also be performed if the driving maneuver cannot be completed safely.

[0036] The antenna's field of view can be checked continuously. In particular, the antenna's field of view is checked before and during the maneuver. This allows for a quick response to unforeseeable or new situations.

[0037] In one embodiment, it is provided that the surrounding area is detected to determine whether at least one potential collision object with regard to the driving maneuver is located in the surrounding area. This makes it easier to assess the surrounding area that is relevant for, in particular, the potential execution of a driving maneuver. Initially, the field of vision was at least partially obscured and, for example, by the vehicle swerving at least temporarily, this obscured area could be at least partially detected with at least one antenna element, so that the surrounding area can again be detected with the expanded field of vision in such a way as to determine whether an object, road user or obstacle is present in the surrounding area that could act as a potential collision object for the vehicle when the driving maneuver is carried out.

[0038] For example, if a collision object is detected, the vehicle's driver assistance system can be informed that the maneuver should not be performed. Likewise, appropriate warning signals can be issued in the vehicle to warn the driver of the collision object and, in particular, of the need to perform the maneuver.

[0039] In one embodiment, it is provided that the field of view of the at least one antenna element is checked to determine whether there are any areas within the field of view of the at least one antenna element that are at least partially not detectable by the at least one antenna element. In other words, the hidden partial area of ​​the field of view of the antenna area, also referred to as the main field of view, is checked by the additional field of view of the one antenna element to determine whether there are any objects, road users and / or obstacles within the hidden area. This can be determined at an early stage by the antenna element checking whether there are any anomalies, shadows or other disturbances within its field of view that could indicate that there are objects within the antenna area that are not visible and could pose a danger to the driving maneuver.

[0040] In one exemplary embodiment, it is provided that, based on the at least one concealed partial area of ​​the field of view of the antenna area and environmental information relating to the environment, at least one auxiliary driving maneuver is determined, with which the longitudinal guidance and / or the lateral guidance of the vehicle can be adapted at least temporarily. In other words, such an auxiliary driving maneuver, in particular a temporary one, or detection driving maneuver, can be determined or generated on the system side, for example by an electronic evaluation unit or by an evaluation system, in order to be able to at least temporarily adapt the longitudinal guidance and / or the lateral guidance of the vehicle based on this auxiliary driving maneuver in order to be able to achieve an overlay of the field of view of the at least one antenna element with the concealed partial area of ​​the field of view of the antenna area.For example, several auxiliary driving maneuvers can be performed consecutively to achieve an overlap, in particular an at least partial overlap, between the field of view and the antenna element and the field of view and the obscured partial area. For example, with the aid of the auxiliary driving maneuver, the vehicle can be moved at least temporarily and thus temporarily in such a way that at least one antenna element overlaps the obscured partial area with its field of view, and thus the obscured partial area can be at least partially detected with this antenna element.

[0041] In one embodiment, it is provided that certain auxiliary driving maneuvers are transmitted to a driver assistance system of the vehicle, wherein the auxiliary driving maneuver can be carried out automatically with the driver assistance system and / or the auxiliary driving maneuver can be output visually and / or acoustically to a user of the vehicle using an electronic output unit. Thus, the driving maneuver or the auxiliary driving maneuver can be carried out either by the system or by the user in order to be able to expand the field of vision. For example, the auxiliary driving maneuver can be transmitted or provided to the driver assistance system by means of an electronic signal. Otherwise, the auxiliary driving maneuver can be output and, in particular, displayed to the user, in particular the driver, of the vehicle.For example, the auxiliary driving maneuver can be shown to the user on a display, infotainment system, navigation system or a head-up display so that the user is informed how to adjust the longitudinal and / or lateral guidance of the vehicle.

[0042] In one embodiment, it is provided that, depending on the at least one obscured partial area of ​​the field of view of the antenna area, a duration for adjusting the longitudinal guidance and / or the lateral guidance of the vehicle and / or a type of adjustment of the longitudinal guidance and / or the lateral guidance of the vehicle and / or an extent of adjustment of the longitudinal guidance and / or the lateral guidance of the vehicle is determined. This can be carried out, for example, using an electronic evaluation unit.

[0043] Depending on the size of the hidden partial area or how the hidden partial area is aligned, the length of time required for adaptation can be determined by the system. This makes it possible to specify how long the driving behavior needs to be adapted until the hidden partial area can be detected with at least one antenna element. In addition to or instead of this, the type of adaptation can be specified. For example, it can be specified whether the vehicle should swerve to the left or right, whether the vehicle should brake or accelerate, or whether other interventions in the driving behavior should be made. Furthermore, in addition to or instead of this, the extent of the adaptation can be determined. For example, it can be specified how far the vehicle should swerve to the left or how far to the right in order to detect the hidden partial area.

[0044] In the aforementioned options regarding the adaptation of the longitudinal guidance and / or the lateral guidance, in addition to the at least one concealed partial area, the surroundings of the vehicle and in particular the respective traffic situation are taken into account in order not to endanger the safety of the vehicle and / or the safety of other road users by adapting the longitudinal guidance and / or the lateral guidance of the vehicle.

[0045] In one embodiment, it is provided that after the at least temporary adjustment of the longitudinal guidance and / or the lateral guidance of the vehicle, an overlap degree of an overlap between the field of view of the at least one antenna element and the at least one concealed partial area of ​​the field of view of the antenna area is checked, wherein the overlap degree is compared with a predetermined overlap threshold value, which can be used to specify the overlap above which sufficient detection of the at least one concealed partial area is possible. Thus, after performing an adjustment, for example with the aid of the auxiliary driving maneuver, it can be checked whether the previously concealed partial area can now be sufficiently detected or is detectable. This is carried out by comparing the overlap degree with the existing overlap threshold value or a reference overlay.The degree of overlap is determined after adaptation, whereby the field of view of the at least one antenna element with the obscured partial area is checked to determine whether sufficient overlap exists. Sufficient overlap can exist, for example, if the field of view of the at least one antenna element overlaps the obscured partial area by at least 80 percent, preferably 90 percent, in particular 95 percent. This allows the obscured partial area to be detected, so that it can be used to perform the driving maneuver. The overlap threshold can be specified by the system. For example, the overlap threshold can also be specified depending on the driving maneuver to be performed and, in particular, depending on the existing traffic situation.

[0046] If the degree of overlap equals or exceeds the overlap threshold, the system can determine that the obscured partial area can be detected and thus the surrounding area can be detected in such a way that a safe and efficient driving maneuver can be carried out.

[0047] In one exemplary embodiment, if the degree of overlap falls below or has fallen below the overlap threshold, a further, in particular subsequent, at least temporary adjustment of the longitudinal guidance and / or lateral guidance of the vehicle is carried out based on a difference between the degree of overlap and the overlap threshold, whereby the at least one concealed partial area of ​​the field of view of the antenna area is again at least partially overlaid by the field of view of the at least one antenna element of the antenna area. In other words, the adjustment of the lateral guidance and / or longitudinal guidance takes place in successive processes until the concealed partial area can be sufficiently detected.Thus, several adaptation processes can be carried out one after the other and after each adaptation process is carried out, it is first checked whether the field of view of at least one antenna element sufficiently overlaps the partial area.

[0048] This allows, above all, a gradual enlargement of the field of view or viewing area, and thus an enlargement of the aperture of the antenna area or antenna array. Furthermore, the longitudinal and / or lateral guidance is readjusted, taking into account the difference between the overlap dimension and the overlap threshold. If the overlap dimension still deviates significantly from the overlap threshold, the adjustment can be made more pronounced. If the overlap dimension deviates only slightly from the overlap threshold, the longitudinal and / or lateral guidance can be adjusted in a shorter or more minimal time.

[0049] A further aspect of the invention relates to a method for performing a driving maneuver of a vehicle, wherein an environmental region of the vehicle's surroundings relevant to the driving maneuver is detected using a method according to the previous aspect or an advantageous embodiment thereof, and the driving maneuver is performed depending on the detected environmental region. Thus, the detected environmental region can be detected according to a method of the previous aspect and / or an advantageous development, so that this detected environmental region can be taken into account for performing the driving maneuver.In other words, with the help of an antenna array of a sensor system, the surrounding area which is relevant or important for the driving maneuver can be detected and, for example, transmitted or made available to a vehicle system, such as a driver assistance system or vehicle guidance system, for carrying out a driving maneuver.

[0050] In an embodiment of the further aspect, it is provided that, based on the detected environmental area, a hazard potential that exists for the vehicle when performing the driving maneuver is predicted or determined, wherein a warning signal is generated based on the hazard potential, wherein the warning signal is provided to a vehicle system of the vehicle and / or a user of the vehicle immediately before the driving maneuver is performed. The detected environmental area can be evaluated or analyzed by the system to determine whether a hazard or danger exists or could exist for the vehicle when performing the driving maneuver. For this purpose, in addition to the detected environmental area, the driving maneuver to be performed can also be taken into account to determine whether the driving maneuver performed or potentially performed can be performed safely with regard to the detected environmental area or not.Based on the predicted or determined hazard potential, an electronic warning signal can be generated or produced to alert the vehicle itself and / or the vehicle's user to potential hazards. This occurs, in particular, immediately before the maneuver is performed and / or during the maneuver itself. Accordingly, the surrounding area is continuously monitored and the hazard potential is predicted in order to react to new situations or circumstances as quickly as possible. This increases vehicle safety because the maneuver can be performed more safely and, above all, more efficiently.

[0051] Above all, the detected surrounding area can be analyzed to determine whether potential collision objects are present and whether or not these pose a danger when carrying out the driving maneuver.

[0052] In an embodiment of the further aspect, it is provided that the driving maneuver is aborted or carried out by the user or by the vehicle system based on the provided warning signal. If the system has determined that the danger to the vehicle is very high, and in particular that a collision object is actually present, the driving maneuver can either be aborted automatically by the system or this information can be provided to the user acoustically or visually, allowing the user to abort the driving maneuver manually. Likewise, if a low or essentially nonexistent danger potential is determined, the driving maneuver can be carried out accordingly.

[0053] For example, continuous detection of the surrounding area and the corresponding evaluation of this data can interrupt a driving maneuver that has already begun. With the help of the warning signal, particularly an electronic one, the vehicle system or an auxiliary system can, for example, implement steering interventions or at least partially autonomous interventions in the vehicle's driving behavior in order to safely execute or abort the driving maneuver, depending on the hazardous situation.

[0054] A further aspect of the invention relates to a sensor system with at least one antenna array and an electronic evaluation unit, wherein the sensor system is designed to carry out a method according to the preceding aspects or an advantageous development thereof. In particular, a method of the aforementioned aspect can be carried out or implemented with the aid of the sensor system just described.

[0055] For example, the radar sensor device according to the invention makes it possible to use standard telecommunications lasers in the radar sensor device. In particular, this eliminates the need for complex and cost-intensive design of gigahertz circuits for frequency conversion of RF signals with optical carriers. After conversion from the terahertz spectral range, the gigahertz signal, in particular, is stabilized. This can lead to a reduction in chip area compared to conventional electronics. The transformation device replaces, for example, the EPIC chip(s). A ring line is particularly easy to implement, with the high quality factor of the optical ring resonator requiring low laser power, so that coupling losses can be compensated and many chips can be operated with a single source. The gigahertz signal is particularly inherent and stable.In particular, a low-noise signal can be provided. With the aid of the transformation device, an SNR (signal-to-noise ratio) can be increased. In particular, the radar sensor device according to the invention is more polarization-sensitive. Furthermore, the radar sensor device according to the invention requires low power and, in particular, less installation space. In particular, the transmitting device and the receiving device can be integrated on a single semiconductor chip, for example, in a CMOS, SiM-CMOS, Bi-CMOS, hybrid Bi-CMOS, or with processes on photonic-electronic co-integrated chips. Thus, for example, with the aid of the invention, a radar sensor device can be manufactured by mass production using standardized semiconductor processes.

[0056] In particular, the transformation device according to the invention can be used to better implement a ring line of the optical fiber for connecting multiple photonic semiconductor chips. Microstrip systems are currently used to implement high-resolution radar systems in the automotive sector. These result in 3D conductor structures for radiation in the mm wavelength range, which require additional three-dimensional installation space. This can be improved by the radar sensor device according to the invention. The transformation device can reduce the limitation of the detectable spectral range due to antenna geometry.

[0057] In particular, with the aid of the radar sensor device according to the invention, a frequency conversion of a terahertz carrier signal in the gigahertz frequency range after optical signal transmission and, conversely, reception of gigahertz signals with modulation on terahertz carrier signal can be carried out.

[0058] The radar sensor device according to the invention enables photonic-electronic cointegration of ring resonators in semiconductors as an antenna structure and for frequency conversion. In particular, the proposed radar sensor device can be used in motor vehicles. In particular, the radar sensor device can be used, for example, in at least partially autonomously operated motor vehicles, in particular in fully autonomously operated motor vehicles. Such automated driving requires reliable environmental perception, which can be achieved by the radar sensor device according to the invention. The environment or surroundings can be detected using sensors such as radar, lidar, and cameras. These could be examples of the application areas of the radar sensor device.The radar sensor device can perform a holistic 360-degree three-dimensional detection of the environment, so that all static and dynamic objects can be detected.

[0059] The radar sensor device can be used as an alternative to Lidar, since Lidar in particular plays a key role in redundant, robust environment detection, as this type of sensor can measure distances and angles more precisely in environment detection and can also be used for classification.

[0060] In particular, radar sensor devices can be used in, for example, at least partially autonomously operated motor vehicles, but especially also in fully autonomously operated motor vehicles. However, to enable such automated driving, reliable environmental perception is essential. The environment is recorded using sensors such as radar, lidar, or cameras. A holistic 360-degree three-dimensional recording of the environment is particularly important so that all static and dynamic objects can be detected. The radar sensor device can be used for this purpose. In particular, lidar plays a key role in redundant, robust environmental detection, as this type of sensor can measure distances more precisely in environmental detection and can also be used for classification. However, these lidar sensors are cost-intensive and their construction complex.360-degree three-dimensional environment detection is particularly problematic, as it requires either many smaller individual sensors, which typically operate with many individual light sources and detector elements, or large lidar sensors. Furthermore, lidar sensors are susceptible to weather influences such as rain, fog, or direct sunlight. The radar sensor device can provide a remedy for this.

[0061] Radar sensors and radar sensor devices are also established in automotive engineering and provide reliable and fail-safe data in all weather conditions. Even poor visibility conditions, such as rain, fog, snow, dust, or darkness, barely affect their detection reliability. However, according to the state of the art, their resolution is currently limited; in particular, series-produced radars in use are only designed with an angular resolution of approximately 2 degrees. To meet the requirements for increased automation in automotive engineering with safe driving functions, radar sensor devices are designed to provide three-dimensional images with a high angular resolution in the range of 0.1 degrees and below, with high immunity to disturbances from their surroundings.This cannot be achieved with conventional radar technology according to the state of the art, as the resolution of such systems is too low. The radar sensor device according to the invention advantageously intervenes precisely in this regard. The radar sensor device can be designed as a photonic radar sensor device, which achieves an increase in resolution by cointegrating electronic and photonic components into a single semiconductor chip. The tracking of an FMCW signal as well as the entire signal processing and signal evaluation are carried out in the central station. Each transmit and receive module has an electronic-photonic cointegrated chip, a so-called EPIC chip. Silicon photonics technology is used for the cointegration. This enables the monolithic integration of photonic components, radio-frequency electronics, and digital electronics together on a single chip.The technical innovation of such a system lies in the signal transmission of gigahertz signals using an optical carrier signal in the terahertz frequency range. A central station, which can also be referred to as a central electronic computing device, generates an optical carrier frequency in terahertz. The transmitted signal is modulated at one-eighth the radar frequency and sent via the optical fiber to the antenna chips. Frequency multiplication takes place there, allowing the radar radiation to be emitted by the antenna chips. Signal detection occurs in the opposite direction. All data is processed at the central station.

[0062] However, such a design is very complex in the implementation of gigahertz electronics at the chip level. In particular, the on-chip frequency multiplication following detection by a photodiode is technically challenging and poses a significant challenge with regard to gigahertz signal generation with a high signal-to-noise ratio and the lowest possible jitter. The gigahertz signal must be extensively stabilized in subsequent steps. Furthermore, gigahertz electronics are cost-intensive. Furthermore, high performance requirements are placed on the optical carrier, especially the laser, since a high level of optical power is required to generate a high-precision gigahertz signal. This makes single-phase loops difficult to implement for a radar array with many distributed radar semiconductor chips.In particular, two photonic-electronic semiconductor chips are still required for each transmit and receive channel, which leads to additional costs. The aforementioned problems are at least partially, in particular completely, solved by the radar sensor device according to the invention.

[0063] In particular, the invention utilizes an optical interface to couple the radiation of the laser device, which can also be configured as a CW laser, into a photonic semiconductor. This can be the optical transmission signal or a carrier signal of the CW laser.

[0064] The generation of the FMCW signal, as well as the entire signal processing and evaluation, are carried out by a central station, for example, the computer. Each transmit and receive module consists of an electronic-photonic cointegrated chip (so-called "EPIC chip"). Silicon photonics technology is used for cointegration. This enables the monolithic integration of photonic components, radio-frequency electronics, and digital electronics on a single chip ("electronic-photonic cointegration"). The technical innovation of such a system lies in the signal transmission of GHz signals using an optical carrier signal in the THz frequency range. A central station generates an optical carrier frequency (THz). The signal to be transmitted is modulated onto this frequency at 1 / 8 of the radar frequency and sent to the antenna chips via optical fiber.The frequency is multiplied eightfold on these, allowing the radar radiation to be emitted by the antenna chips. Signal detection occurs in the opposite direction. All data is processed at the central station.

[0065] The principle of electronic-photonic cointegration in a single chip, with silicon-on-insulator regions for the photonic components and bulk silicon regions for the electronic circuits, is a globally unique technology. Especially at high data rates, it enables high signal quality with low parasitic interference. The connection of the RF circuits for the radar antennas, including the frequency multiplier, to the optical transceiver can be implemented without additional wire or flip-chip bonding. Furthermore, chips can be optically and electrically tested at the wafer level, enabling a high yield in the subsequent module design. This technology enables extremely compact form factors and is therefore highly relevant for the application of optical technologies based on silicon photonics in the automotive industry.

[0066] The hurdle to the productive use of optical fibers lies in the lack of scalability of currently available technologies. This scalability to large volumes is made possible by the technology for highly integrated manufacturing of electronic photonic integrated circuits. The result is a significant cost reduction in assembly technology and a more efficient cost structure. The development of data center solutions has resulted in comprehensive libraries for electronic and photonic components for data transmission at high bandwidths, which are utilized in the project. A further aspect of the invention relates to a vehicle with a sensor system according to the preceding aspect or an advantageous development.

[0067] For example, the vehicle may be manually operated, partially autonomous, or fully autonomous. In other words, the vehicle may be a highly automated vehicle.

[0068] In particular, the vehicle may be a motor vehicle, such as a passenger car or a truck.

[0069] In an embodiment of the further aspect, the antenna array comprises a plurality of antenna elements that are distributed and spaced apart from one another on the vehicle. This allows for the most efficient detection of the vehicle's surroundings. The distributed arrangement of the individual antenna elements on the vehicle enables, in particular, 360-degree detection of the surroundings.

[0070] For example, the antenna elements of the antenna array can be configured in a "sparse area" configuration. In particular, the antenna elements of the antenna array can be arranged on the vehicle in a sparsely populated or weakly populated configuration.

[0071] Embodiments of individual aspects of the invention are to be considered advantageous embodiments of other aspects. In particular, the respective embodiments of individual aspects can be considered advantageous embodiments of all other aspects. This also applies in reverse.

[0072] Advantageous embodiments of the method(s) are to be regarded as advantageous embodiments of the sensor system and the vehicle. The sensor system and the vehicle have specific features that enable implementation of the method or an advantageous embodiment thereof.

[0073] The invention also includes further developments of the sensor system according to the invention and the vehicle according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the sensor system according to the invention and the vehicle according to the invention are not described again here.

[0074] The invention also includes combinations of the features of the described embodiments.

[0075] Exemplary embodiments of the invention are described below. Shown are:

[0076] Fig. 1 is a schematic representation of a vehicle with a sensor system having antenna elements of an antenna array distributed on the vehicle;

[0077] Fig. 2 is a schematic representation of a block diagram of the sensor system from Fig. 1;

[0078] Fig. 3 is a schematic representation of a further embodiment of the radar system from Fig. 1;

[0079] Fig. 4 is a schematic representation of an overtaking situation of a vehicle in which a field of view of an antenna area of ​​the antenna array of the sensor system is partially obscured;

[0080] Fig. 5 is a schematic representation of how the field of view of the antenna area from Fig. 4 can be extended by adjusting a longitudinal guide and / or a transverse guide of the vehicle;

[0081] Fig. 6, starting from Fig. 5, that a driving maneuver to be carried out by the vehicle was aborted due to a detected potential collision object;

[0082] Fig. 7 shows a turning maneuver of a vehicle in the area of ​​an intersection, where the field of vision of the vehicle is partially obscured by obstacles;

[0083] Fig. 8 shows the detectable field of vision of the vehicle and the non-detectable cross-traffic vehicles; Fig. 9, again based on the previous figures, shows how the field of vision can be expanded by adjusting the lateral and / or longitudinal guidance of the vehicle in order to still detect cross-traffic; and

[0084] Fig. 10 is a flowchart regarding the detection of the surrounding area which is relevant for carrying out a driving maneuver or a driving function.

[0085] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0086] In the figures, functionally identical elements are provided with the same reference numerals.

[0087] Figure 1 shows various schematic views (front view, rear view, side view) of a vehicle 1, which may be a motor vehicle. The vehicle 1 includes, for example, a sensor system 2.

[0088] The sensor system 2 can, for example, be a radar system or an environmental sensor system of the vehicle 1. For this purpose, the sensor system 2 can be communicatively networked with one or more driver assistance systems or other vehicle systems. For example, the sensor system 2 can be a radar sensor or a lidar sensor or another type of sensor, particularly for vehicles. In addition to the use of the sensor system 2 in the vehicle 1, it can also be used in systems external to the vehicle.

[0089] For example, the sensor system 2 has at least one antenna array 3 or a plurality of antenna arrays. The antenna array 3 can in turn be formed from a plurality of antenna elements 4. The antenna elements 4 can be arranged at a distance from one another on the vehicle 1, in particular for 360-degree surroundings detection. Fig. 2 shows a conceivable embodiment of the sensor system 2. The sensor system 2 can 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 can be separate and physically distinct units. The radar sensor device 5 can, for example, have the at least one antenna array 3. Otherwise, the antenna array 3 can function as the radar sensor device 5.

[0090] The central electronic computing device 6 is a central processing unit. For example, the central electronic computing device 6 can generate an electrical control signal with which a laser device 7 can be actuated or controlled. The laser device 7 can be a CW laser, for example. With the help of the laser device 7, an optical transmission signal or a carrier signal 8 can be generated. The optical transmission signal 8 can in particular be referred to as an optical carrier signal in the terahertz frequency range. The central electronic computing device 6 can, for example, generate the optical carrier frequency. The signal to be transmitted is modulated onto this optical carrier frequency with one eighth of a radar frequency and transmitted, for example, to the radar sensor device 5. In this way, an eightfold frequency increase can take place.Again, with the aid of the radar sensor device 5, signals in the gigahertz frequency range can be received and transmitted to the central electronic computing device 6.

[0091] For example, the central electronic computing device 6 can be coupled to an optical input 10 and an optical output 11 of the radar sensor device 5 via at least one optical fiber 9. Thus, bidirectional signal transmission can occur between the central electronic computing device 6 and the radar sensor device 5.

[0092] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0093] The central electronic computing device 6 can further comprise an optical receiving unit 12, which is configured to receive an optical output signal 13 provided by the optical output 11 of the radar sensor device 5. Thus, the central electronic computing device 6 can be coupled to the radar sensor device 5 via an optical fiber or electronic interface, such as Ethernet. In particular, multiple radar sensor devices or antenna arrays can be coupled to the central electronic computing device 6. For example, the central electronic computing device 6 can comprise a processing unit 14 or a computing unit, with which the received optical output signal can be processed. Thus, signal acquisition and subsequent data processing of the received output signal 11 can be carried out.

[0094] In particular, the central electronic computing device 6 can have or provide all necessary control signals, data processing signals, modules and interfaces.

[0095] For example, the radar sensor device 5 can have, in addition to the optical input 10 and the optical output 11, at least one transmitting device 15 or transmitting antenna and at least one receiving device 16 or receiving antenna. Thus, the radar sensor device 5 has a receiving module and / or transmitting module. In particular, the transmitting device 15 and the receiving device 16 can be integrated on one and the same chip. It is also conceivable for them to be located on different semiconductor chips.

[0096] With the aid of the transmitting device 15, an electrical radar transmission signal 17, which is based on the optical transmission signal 8, can be transmitted into an environment 18 of the vehicle 1. Thus, a corresponding radar signal 17 can be transmitted depending on the optical transmission signal 8. If this signal 17 is reflected in the environment 18 by objects such as road users, roads, trees, or other objects, an electrical reception signal 19 corresponding to the electrical radar transmission signal 17 and reflected in the environment 18 can be received.

[0097] For example, the transmitting device 15 may have at least one antenna or one antenna unit or several antennas for transmitting.

[0098] For example, the transmitted radar transmission signal 17 or electrical transmission signal and the received reception signal 19 can be in the terahertz frequency range or gigahertz frequency range. Thus, with the aid of the sensor system 2, a frequency conversion of a terahertz carrier signal, in particular a transmission signal 8, into the gigahertz frequency range can be performed for transmission. Conversely, the reception of gigahertz signals can be performed with modulation onto the terahertz carrier signal. For example, the transmission device 15 can have at least one grating coupler and one photodiode for transmission. The reception device 16 can, for example, have two jitter couplers, a photodiode, and a modulator for reception.

[0099] Sensor system 2 can be used to modulate the radar frequency at 1 / 8 and transmit it via optical fiber to the antenna chips or antenna elements 4. These undergo a frequency multiplication by eight times, allowing the radar radiation to be emitted by the antenna chips. Signal detection can optionally be performed in the reverse direction. All data can be processed at the central station.

[0100] Fig. 3 shows a further conceivable embodiment of the sensor system 2. Here, the sensor system also has the computing device 6, which in this embodiment can have a different configuration or equipment.

[0101] The sensor system 2 specifically comprises a plurality of transmitting / receiving units, such as the antenna elements 4, which can be arranged distributed on the vehicle 1, in particular for environmental detection.

[0102] The transmit-receive units or antenna elements 4 can be used for both transmitting and receiving signals. Thus, the transmit-receive units are combined units for transmitting and receiving signals.

[0103] In particular, such a transmitting / receiving unit can be referred to as a transmitting and receiving module. This can be referred to or formed from an electronic-photonic co-integrated chip (so-called "EPIC chip"). The computing device 6, which can be referred to as the central processing unit, can also be formed from an electronic-photonic co-integrated chip. In particular, the computing device 6 is a physically and / or spatially separate unit from the transmitting / receiving units.

[0104] For example, the computing device 6 can have an optical unit or the laser device 7 or a laser. In particular, the optical unit can be designed as an optical source or as a CW laser. With the help of the optical unit, the optical transmission signal 8 or a carrier signal can be generated and thus provided. The optical transmission signal 8 can in particular be designed as an optical carrier signal in the terahertz frequency range. The computing device 6 can, for example, generate the optical carrier frequency. The signal to be transmitted can be modulated onto this optical carrier frequency with one-eighth of a radar frequency and transmitted, for example, to the transceiver units. In this way, frequency multiplication can take place. In turn, signals in the gigahertz frequency range can be received with the help of the transceiver units.

[0105] For example, the computing device 6 can be connected to a respective transmitting / receiving unit via a fiber optic cable 9, forming an optical transmission link. Signals, particularly optical signals, can be transmitted from the computing device 6 to the individual transmitting / receiving units via the fiber optic cable 9. In order to be able to send received signals from the transmitting / receiving units back to the computing device 6 for evaluation or signal processing, a respective transmitting / receiving unit can be optically coupled to the computing device 6 via an optical return channel 20.

[0106] The electrical transmission signal 17 can be transmitted, in particular into the environment 18, by at least one of the transmission / reception units. An electrical reception signal 19 corresponding to the electrical transmission signal 17 can also be received by the transmission / reception unit. For example, the transmission signal 17 can be reflected by an object in the environment 18 of the vehicle 1 and thus received as an electrical reception signal 19. The reception signal 19, which can be referred to as a radar signal, for example, can be transmitted or transferred to the computing device 6 for evaluation or signal processing. For this purpose, the electrical reception signal can be converted into an optical reception signal 21 by means of the transmission / reception unit. For example, this can be transmitted via the return channel 9 of the computing device 4. By means of an optical-electrical converter unit 22 orThe detector unit of the computing device 6 can convert the optical received signal 21 into an electrical signal 23. Unit 22 can be used, for example, for optical detection. For this purpose, the conversion can be performed, for example, via homodyne detection or heterodyne detection. Furthermore, unit 22 can perform a phase measurement and / or a phase length measurement.

[0107] Digitization can then again take place via a digital interface 24. In particular, an analog-to-digital conversion can take place here. For this purpose, the digital interface 24 can have an analog-to-digital converter. A processing unit 14 can be arranged downstream. With this, for example, signal processing can be applied, in particular with a "low-level signal". For example, a Fast Fourier Transformation (FFT) can be used for this purpose. The digitized, processed electrical signal 23 can then be made available to a CPU 25 of the computing device 6. In this case, radar information or environmental information contained in the electrical signal 23 can in particular be evaluated or processed.Furthermore, an electrical return channel 26 can be provided, which provides feedback from at least one of the transmitting / receiving units to the computing device 6 and in particular to the digital interface 24.

[0108] In order to be able to carry out the most stable and low-noise environmental sensing or detection of the sensor system 2, the optical transmission signal 8 can be adapted by means of frequency synthesis or gigahertz frequency synthesis. For this purpose, the computing device 6 can have a synthesis unit 27. For this purpose, the optical transmission signal 8 can be fed to or transmitted to the synthesis unit 27. For example, modulation can be carried out before the optical transmission signal 8 is made available to the synthesis unit 27. For this purpose, a modulator or modulation unit 28 can be provided. This can be designed, for example, as an arbitrary generator or arbitrary function generator (AWG). After the synthesis unit 27, for example, an optical control unit 29 and an optical switch orA distributor 30 may be provided in the computing device 6 in order to make appropriately processed signals from the synthesis unit 27 available to the transmitting / receiving units via the fiber optic cable 9. Furthermore, a control unit 31 may be controlled by the evaluation unit 25, in particular to monitor or control the generation of the optical transmission signal. Furthermore, a control unit or feedback loop 32 may be provided.

[0109] Furthermore, the computing device 6 is electrically connected to the transmitting / receiving units via an electrical transmission path 33. An electrical control signal 34 for controlling or driving the transmitting / receiving units or antenna elements 4 can be transmitted via this electrical transmission path 33.

[0110] In particular, the computing device 6 serves to generate an optical carrier signal, the optical transmission signal 8, and feed it into a gigahertz frequency synthesis unit, e.g., the synthesis unit 27. The synthesized gigahertz signal can be transmitted in the optical spectral range via fiber, i.e., the fiber optic cable 9, to the transceiver units, so that, for example, a 77 gigahertz signal can be emitted or transmitted by the transceiver units. Signal detection, in turn, can be performed in the reverse direction. All data can be processed or processed in the computing device 6.

[0111] The configurations of the computing device 6 in Fig. 2 and Fig. 3 can be combined as desired.

[0112] In the following, exemplary embodiments are described with regard to detecting an environmental region 18 of the vehicle 1 that is relevant for a driving maneuver of the vehicle 1 and, in particular, carrying out a driving maneuver on the basis of this detection.

[0113] Fig. 4 shows an overtaking maneuver or overtaking situation as a conceivable driving maneuver. In this case, the vehicle 1, which has the sensor system 2, moves along a lane of a roadway. In this case, an intention to overtake can be initiated by a driver assistance system and / or by the user of the vehicle 1. In this case, the surrounding area 35 relevant for the overtaking maneuver as a driving maneuver lies in front of the vehicle 1, in particular in the direction of travel of the vehicle 1. In this situation, a road user 36, shown here as a truck, is present directly in front of the vehicle 1. A field of view 37 of an antenna area 38 of the antenna array 3 is at least partially obscured by this road user 36 or obstacle.In this case, the antenna area 38 is a part of the antenna array 3, which can be used or is usable for detecting the relevant surrounding area 35. Thus, the situation arises here that the antenna area 38 has a field of view 37 that does not detect or cannot see the area in front of the obstacle 36. Therefore, performing a driving maneuver here would be risky, since the oncoming vehicle, as a potential collision object 39, cannot be detected here.

[0114] In particular, Fig. 4 shows an overtaking scenario with oncoming traffic. The field of view 37 of the antenna area 38 is blocked in the straight-ahead direction by a truck driving ahead. The oncoming vehicle, i.e. the collision object 39, cannot be reliably detected. In this case, the system can now check or assess the field of view 37 to determine whether at least a sub-area 40 of the field of view 37 is at least partially obscured. In this case, a sub-area 40 of the field of view 37 is obscured accordingly by the obstacle 36. The following Fig. 5 now explains how, despite the obscured sub-area 40, reliable and efficient detection of the collision object 39 or the oncoming traffic can still be carried out.Based on the concealed partial area 40, environmental information relating to the environment 18 and / or the current traffic situation or circumstances, it can be determined to what extent the driving behavior and / or driving style of the vehicle 1 must be changed or adapted in order to be able to cover the concealed partial area 40 with the antenna area 38 without integrating additional sensors. For this purpose, the longitudinal guidance and / or the lateral guidance of the vehicle 1 is adjusted at least temporarily, i.e., temporarily, such that at least one field of view 41 of at least one antenna element 42 or more antenna elements of the antenna area at least partially overlaps the at least one concealed partial area 40 of the field of view 37 of the antenna area 38, whereby the at least one concealed partial area 40 of the field of view 37 of the antenna area 38 can be at least partially detected with the at least one antenna element 42.

[0115] As schematically illustrated in Fig. 5, the driving style of vehicle 1 is adjusted or adapted such that vehicle 1 moves at least partially into the oncoming lane, so that, for example, the left area of ​​antenna area 38 can, so to speak, look past obstacle 36. Thus, vehicle 1 is adjusted such that at least one antenna element 42 can look past obstacle 36 in order to be able to detect partial area 40 at least partially, in particular completely.

[0116] As shown in Fig. 5, the field of view 41 of the antenna element 42 has a detection range which can primarily detect the oncoming lane and in particular the potential collision object 39, i.e. in this case the oncoming traffic. Thus, through targeted interventions in the driving behavior of the vehicle, the initially restricted field of view 37 can be expanded or enlarged. For this purpose, based on the concealed partial area 40 and in particular on the basis of the respective traffic situation, at least one auxiliary driving maneuver 43 can be determined, with which the longitudinal guidance and / or the lateral guidance of the vehicle 1 can be adjusted. In this case, the vehicle 1 would travel further towards the center of the lane in order to be able to better detect the area in front of the obstacle 36.The auxiliary driving maneuver 43, with which, for example, a trajectory can be specified, can be transmitted or provided to a driver assistance system 44 of the vehicle 1 and / or a safety system 45 of the vehicle 1. With the aid of the driver assistance system 44, the auxiliary driving maneuver 43 can be carried out automatically. It is also conceivable for the auxiliary driving maneuver 43 to be carried out at least partially manually by the user of the vehicle 1 and to be supported in this process with the aid of the safety system 45. In this case, certain specifications can be made available to the user. In particular, with the aid of the safety system 45, system-side interventions can be carried out depending on the danger or the circumstances in order to increase the safety of the vehicle 1.It is also conceivable that the auxiliary driving maneuver 43 is output, displayed or shown to the user of the vehicle 1 visually and / or acoustically using an electronic output unit 46, so that the user is informed how he or she should at least temporarily control or drive the vehicle 1 in order to make the concealed partial area 40 at least partially detectable.

[0117] On the basis of the field of view 41 of the antenna element 42, an extension or a correction of the field of view 37, in particular on the system side or virtually, can be carried out, so that the detection of the surrounding area 35 for the driving maneuver 47 can be carried out sufficiently.

[0118] In particular, depending on the current circumstances and / or the extent to which the field of vision 37 is obscured, the longitudinal guidance and / or lateral guidance can be adapted to the situation. Based on the detected surrounding area 37, corresponding information regarding the surrounding area 35 can be transmitted or provided to the driver assistance system 44 or another vehicle system 48. This information can be provided or transmitted, for example, to the vehicle 1 itself or to the user of the vehicle 1 by means of an electronic signal, so that either the user of the vehicle 1 or the vehicle 1 can decide, based on its systems, whether the driving maneuver 47 can be performed or whether it should be aborted or not performed at all.

[0119] Based on the detected surrounding area 35, a hazard potential that exists for the vehicle 1 when performing the driving maneuver 47 can be predicted. Based on this hazard potential, which can be characterized by a generated warning signal, a decision can be made by the system or the user as to whether the driving maneuver 47 should be performed or aborted.

[0120] In particular, based on the obscured partial area 40, the auxiliary driving maneuver 43 can be initiated to enlarge an aperture portion of the antenna area 38. Above all, with the help of the antenna element 42, a binary signal can be generated in the simplest way, indicating whether obstacles, objects, or other dangerous items are located within the field of view 41. By successively adjusting, i.e., sequentially adjusting, the longitudinal and / or lateral guidance of the vehicle 1, the aperture can be successively enlarged to ensure reliable perception of the surroundings.

[0121] Fig. 6 now shows that the system has decided not to carry out a driving maneuver 47, since the potential collision object 39 would be dangerously opposed to the driving maneuver 47 to be carried out and a dangerous traffic situation could have arisen.

[0122] Above all, after detection of oncoming traffic, here the potential collision object 39, the driving maneuver 47 or maneuver can be aborted.

[0123] Fig. 7 shows a further exemplary embodiment. In this case, the driving maneuver 47 to be performed is a turning maneuver at an intersection or an intersection area. In this case, vehicle 1 is located in front of the intersection and, from the perspective of vehicle 1, wishes to turn left. Obstacles 49, 50 are present to the left and right of the vehicle, which make it difficult to detect the intersection area. As shown here as an example, two potential collision objects 51, 52 are present, which, viewed from the right and left of vehicle 1, are driving over or crossing the intersection. Thus, the trajectories or movement paths 53, 54 of the collision objects 51, 52, which are vehicles, intersect, dangerously intersecting a possible movement path of the driving maneuver 47 and, in particular, the planned trajectory of the driving maneuver 47.

[0124] Fig. 8 then shows, based on Fig. 7, the field of view 37 of the antenna area 38 of the antenna array 3. In this case, the antenna area 38 extends at least partially around the vehicle 1 in order to be able to detect the intersection over a large area. Due to the obstacles 49, 50, the field of view 37 has two obscured partial areas 55, 56. As schematically shown here in Fig. 8, the collision objects 51, 52 cannot be detected because they are located in the obscured partial areas 55, 56. In other words, the cross traffic relating to the intersection cannot be detected here. Accordingly, performing the driving maneuver 47 in this situation would be dangerous because the cross traffic cannot be detected.In order to remedy this situation, the transverse guidance and / or the longitudinal guidance of the vehicle 1 can be adjusted, as already explained above, in such a way that the field of vision 37, which is initially at least partially obscured, can be expanded.

[0125] Fig. 9 again shows how it can be achieved that the concealed areas 55, 56 can still be detected. Depending on the extent, size or orientation of the concealed partial areas 55, 56 and in particular here the conditions with regard to the intersection, the auxiliary driving maneuver 43 can be specified here that the vehicle 1 drives at least partially into the intersection area, in particular minimally, so that the concealed partial areas 55, 56 can be at least partially detected. By at least temporarily adapting the longitudinal and / or transverse guidance of the vehicle 1, the concealed area 55 can be detected in sections using at least one antenna element 55 of the antenna area 38.

[0126] The obscured partial area 55 can be at least partially detected by at least one antenna element 59 of the antenna area 38. In particular, the field of view 47 of the at least one antenna element 59 is partially superimposed on the obscured partial area 55 by the at least temporarily movement-adapted vehicle 1.

[0127] A field of view 58 of an antenna element 60 of the antenna area 38 is now, in turn, at least partially overlaid with the obscured partial area 56. Accordingly, the initially restricted field of view 37 can now be expanded using the two additional fields of view 57, 58, particularly from a system perspective, such that cross traffic, i.e., in this case, the two potential collision objects or vehicles 51, 52, can now be detected. This can, in turn, be provided as information with the detected surrounding area 35.

[0128] In addition to the aforementioned explanations regarding overtaking and the type of turning maneuver at intersections, further embodiments and examples are conceivable. For example, the present invention can also be applied to vehicles following one behind the other, for example, at the adaptive speed of a cruise control system. Likewise, the invention can also be used to take into account a door opening when driving past parked vehicles in order to detect what lies behind this opened door.

[0129] In the following flowchart in Fig. 10, the present application is explained again in other words. In an optional step S1, it can be checked whether the antenna array 3 of the sensor system 2 is arranged distributed completely around the vehicle 1. In this case, a coherent design of the antenna array 3 is particularly advantageous. This allows a 360-degree environmental detection to be carried out. In a step S2, a basic detection of the environment 18 can again be carried out. This allows detection of the environment or the surroundings 18 by a photonic radar. Furthermore, it can now be determined whether driving functions are to be carried out to carry out the driving maneuver 47 or whether environmental information is necessary for certain vehicle models.For this purpose, in an optional subsequent step S3, the field of view can be determined and the field of view or surroundings of the environmental region 35 to be detected that are necessary for the driving maneuver 47 can be identified. In this case, it can primarily be checked whether the field of view 37 is at least partially obscured or impaired. If the field of view 37 is at least partially obscured and thus has at least one obscured partial region 40, 55, 56, an optional step S4 can then be carried out. In this case, an auxiliary driving maneuver can be initiated to generate a partial aperture for detecting the relevant region and, in particular, a configuration of the antenna array 3 can be carried out. In this case, the fields of view 41, 57, 58 generated in the previous embodiments can again be determined or provided.

[0130] In a subsequent optional step, the fields of view 41, 57, 58 or the extended partial aperture can now be checked to determine whether collision objects 39, 51, 52 can be detected. This allows for environmental detection. In particular, it can be checked whether sub-areas are at least partially obscured by anomalies or other shadows.

[0131] In an optional step S6, a decision can now be made by the system or the user as to whether the driving maneuver 47 can be performed or not. The detected surrounding area 35 can be taken into account accordingly. If it is determined that the driving maneuver 47 cannot be performed for safety reasons or due to a potential collision, the driving maneuver 47 can be aborted in an optional step S7. At this point, a recursive check of the field of view 35 can be performed again. In this case, the lateral guidance and / or the longitudinal guidance can be adjusted again, in particular until the surrounding area 35 can be sufficiently detected.For this purpose, for example, an overlap degree of the overlap between the field of view 41, 57, 58 and the at least one partial area 40, 55, 56 can be determined, so that this overlap degree can be compared with an overlap threshold value. This makes it possible to check whether the additional fields of view provided by the antenna elements can actually capture the obscured partial areas in such a way that collision objects present there can actually be detected. If this is not the case, the driving behavior of the vehicle 1 can be adjusted again in order to position the antenna elements so that the obscured partial areas can be encompassed or captured as widely as possible.

[0132] If it is again determined in step S6 that the driving maneuver 47 can be carried out, the driving maneuver 47 can be carried out by the system, automatically, or manually by a user in an optional step S8.

[0133] If it is again determined in step S3 that there are no obscurations or shadows in the field of view 37, then it is possible to proceed directly to step S6.

[0134] List of reference symbols

[0135] vehicle

[0136] Sensor system

[0137] antenna array

[0138] Antenna elements

[0139] Radar sensor device central electronic computing device laser device optical transmission signal

[0140] Fiber optic optical input optical output

[0141] Receiving unit

[0142] Output signal

[0143] processing unit

[0144] transmitting device

[0145] Receiving device electrical transmission signal

[0146] Environment electrical reception signal

[0147] Return channel optical receive signal optical-electrical converter unit electrical signal digital interface

[0148] CPU electrical return channel

[0149] Synthesis unit

[0150] Modulator optical control unit optical distributor

[0151] control unit a feedback loop electrical transmission path electrical control signal

[0152] surrounding area

[0153] obstacle

[0154] Field of view

[0155] Antenna area of ​​the antenna array potential collision object obscured part of the field of view

[0156] Field of view of at least one antenna element at least one antenna element

[0157] Auxiliary driving maneuvers

[0158] Driver assistance system

[0159] Security system electronic dispensing unit

[0160] Driving maneuvers

[0161] Vehicle system, 50 obstacles, 52 potential collision objects, 54 direction of movement of the potential collision objects, 56 obscured part of the field of view, 58 fields of view of the antenna elements, 60 antenna elements of the antenna area up to S8 steps

Claims

Patent claims 1. A method for detecting an environmental region (35) of an environment (18) of the vehicle (1) that is relevant for a driving maneuver (47) of a vehicle (1), wherein - the environment (18) is detected by an antenna array (3) of a sensor system (2), characterized by - determining an antenna area (38) of the antenna array (3) which has a field of view (37) with which the surrounding area (35) relevant for the driving maneuver (47) of the vehicle (1) can be detected, - checking the field of view (37) of the antenna area (38) to determine whether at least a partial area (40, 55, 56) of the field of view (37) is obscured, - at least temporarily adjusting a longitudinal guidance and / or a transverse guidance of the vehicle (1) on the basis of the at least one concealed partial area (40, 55, 56) of the field of view (37) such that at least one field of view (41, 57, 58) of at least one antenna element (42, 59, 60) of the antenna area (38) at least partially overlaps the at least one concealed partial area (40, 55, 56) of the field of view (37) of the antenna area (38), whereby the at least one concealed partial area (40, 55, 56) of the field of view (37) of the antenna area (38) can be at least partially detected by the at least one antenna element (42, 59, 60), - expanding the field of view (37) of the antenna area (38) based on the field of view (41, 57, 58) of the at least one antenna element (42, 59, 60), - Detecting the surrounding area (35) based on the extended field of view (37).

2. Method according to claim 1, characterized in that information relating to the detected surrounding area (35) is provided to a driver assistance system (44) of the vehicle (1), with which the driving maneuver (47) can be carried out, and / or to a safety system (45) of the vehicle (1), with which a user of the vehicle (1) can be assisted in carrying out the driving maneuver (47).

3. Method according to claim 1 or 2, characterized in that the surrounding area (35) is detected to determine whether at least one potential collision object (39, 51, 52) is located in the surrounding area (35) with regard to the driving maneuver (47).

4. Method according to one of the preceding claims, characterized in that the field of view (41, 57, 58) of the at least one antenna element (42, 59, 60) is checked to determine whether there are areas within the field of view (41, 57, 58) of the at least one antenna element (42, 59, 60) which are at least partially not detectable by the at least one antenna element (42, 59, 60).

5. Method according to one of the preceding claims, characterized in that on the basis of the at least one concealed partial area (40, 55, 56) of the field of view (37) of the antenna area (38) and environmental information relating to the environment (18), at least one auxiliary driving maneuver (43) is determined, with which the at least temporary adaptation of the longitudinal guidance and / or the transverse guidance of the vehicle (1) can be carried out.

6. Method according to claim 5, characterized in that - the specific auxiliary driving maneuver (43) is transmitted to a driver assistance system (44) of the vehicle (1), wherein the auxiliary driving maneuver (43) can be carried out automatically with the driver assistance system (44), and / or - the auxiliary driving maneuver (43) is output visually and / or acoustically to a user of the vehicle (1) by means of an electronic output unit (46).

7. Method according to one of the preceding claims, characterized in that depending on the at least one hidden partial area (40, 55, 56) of the field of view (37) of the antenna area (38), a duration of the adaptation of the longitudinal guidance and / or the transverse guidance of the vehicle (1) and / or a type of adaptation of the longitudinal guidance and / or the transverse guidance of the vehicle (1) and / or an extent of the adaptation of the longitudinal guidance and / or the transverse guidance of the vehicle (1) is determined.

8. Method according to one of the preceding claims, characterized in that after the at least temporary adaptation of the longitudinal guidance and / or the transverse guidance of the vehicle (1), an overlap degree of an overlap between the field of view (41, 57, 58) of the at least one antenna element (42, 59, 60) and the at least one concealed partial area (40, 55, 56) of the field of view (37) of the antenna area (38) is checked, wherein the overlap degree is compared with a predetermined overlap threshold value, with which it can be predetermined from which overlap a sufficient detection of the at least one concealed partial area (40, 55, 56) can be carried out.

9. The method according to claim 8, characterized in that if the degree of overlap falls below the overlap threshold value, a further at least temporary adjustment of the longitudinal guidance and / or the transverse guidance of the vehicle (1) is carried out on the basis of a difference between the degree of overlap and the overlap threshold value, as a result of which the at least one concealed partial area (40, 55, 56) of the field of view (37) of the antenna area (38) is again at least partially overlapped by the field of view (41, 57, 58) of the at least one antenna element (42, 59, 60) of the antenna area (38).

10. Method for performing a driving maneuver (47) of a vehicle (1), wherein - an environmental region (35) of an environment (18) of the vehicle (1) relevant for the driving maneuver (47) of the vehicle (1) is detected using a method according to one of the preceding claims 1 to 9, and - the driving maneuver is carried out depending on the detected surrounding area.

11. Method according to one of the preceding claims, wherein on the basis of the detected environmental area (35) a hazard potential which exists for the vehicle (1) when carrying out the driving maneuver (47) is predicted, wherein a warning signal is generated on the basis of the hazard potential, wherein the warning signal is provided to a vehicle system (48) of the vehicle (1) and / or a user of the vehicle (1) immediately before carrying out the driving maneuver (47).

12. The method according to claim 11, wherein based on the warning signal provided, the driving maneuver (47) is aborted or carried out by the user or by the vehicle system (48).

13. Sensor system (2) with at least one antenna array (3), wherein the sensor system (2) is designed to carry out a method according to one of the preceding claims 1 to 9.

14. Vehicle (1) with a sensor system (2) according to claim 13.

15. Vehicle (1) according to claim 14, wherein the antenna array (3) has a plurality of antenna elements (4) which are arranged on the vehicle (1) at a distance from one another.

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