Sensor system for detecting surroundings, vehicle having a corresponding sensor system and method for operating a corresponding sensor system

Abstract

The invention relates to a sensor system (2) for detecting surroundings having a transmission device (15) designed to emit electrical emission signals (45, 48, 52, 56) based on an optical carrier signal (8), having: - a first transmission path (41) of the transmission device (15), which is designed to provide a first electrical emission signal (45) to a first transmission unit (46), - a second transmission path (42) of the transmission device (15), which is designed to generate a second electrical emission signal (48) and to provide same to a second transmission unit (49), wherein - the transmission device (15) is designed to transmit the second electrical transmission signal (48) in such a way that the second electrical transmission signal (48) has a second frequency different from a first frequency of the first electrical transmission signal (45), and - the transmission device (15) is designed to transmit the first electrical transmission signal (45) by means of the first transmission unit (46) and the second electrical transmission signal (48) by means of the second transmission unit (49) simultaneously. The invention also relates to a vehicle (1) and to a method.

Description

[0001] Description

[0002] Sensor system for environmental detection, vehicle with a corresponding sensor system, and method for operating a corresponding sensor system

[0003] The invention relates to a sensor system for environmental detection. The sensor system has an optical device for generating an optical carrier signal. Furthermore, the sensor system has a transmitting device which has a plurality of transmitting units, the transmitting device being configured to transmit electrical transmission signals which are based on the optical carrier signal. Furthermore, the invention relates to a vehicle with a corresponding sensor system. The invention also relates to a method for operating a corresponding sensor system.

[0004] For example, DE 10 2021 118 076 A1 discloses a radar system for detecting a target object, wherein the radar system can be mounted on the moving object.

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

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

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

[0008] This object is achieved by a sensor system, a vehicle and a method according to the independent patent claims. Advantageous developments result from the dependent patent claims.

[0009] One aspect of the invention relates to an environmental sensing system, comprising

[0010] - In particular, an optical device for generating an optical carrier signal, a transmitting device having a plurality of transmitting units, wherein

[0011] - In particular, the transmitting device is configured to transmit electrical transmission signals based on the optical carrier signal, comprising:

[0012] - In particular, a first transmission path of the transmitting device, which is configured to provide a first electrical transmission signal based on the optical carrier signal to a first transmitting unit of the plurality of transmitting units arranged on the first transmission path,

[0013] - In particular, at least one second transmission path of the transmitting device, which is different from the first transmission path, is configured to generate a second electrical transmission signal based on the optical carrier signal and to provide the second electrical transmission signal to a second transmitting unit of the plurality of transmitting units arranged on the second transmission path, wherein

[0014] - In particular, the transmitting device is configured to generate the second electrical transmission signal such that the second electrical transmission signal has a second frequency different from a first frequency of the first electrical transmission signal, and - In particular, the transmitting device is configured to transmit the first electrical transmission signal with the first transmitting unit and the second electrical transmission signal with the second transmitting unit simultaneously in a transmission operation.

[0015] With the aid of the proposed sensor system, better environmental perception can be achieved in that, in particular, improved target detection or object detection can be carried out by simultaneously transmitting different transmission signals. In other words, with the aid of the proposed sensor system, simultaneous, concurrent or synchronous emission for frequency-shifted and / or frequency-modulated transmission signals can be carried out. Thus, with the aid of the proposed sensor system, several signals that are frequency-shifted relative to one another, such as electrical transmission signals, can be transmitted into the environment in order to be able to carry out target detection or environmental perception based on corresponding echo signals or reflected signals.

[0016] Another advantage of the simultaneous transmission or emission of frequency-shifted transmission signals or electrical emission signals is that it enables improved generation of virtual antenna arrays. The generation of virtual antenna arrays is particularly advantageous for signal processing and thus for environment sensing. Based on the transmitted and received signals, multiple virtual antenna elements or a virtual antenna array can be spanned, so that, for example, the resolution of the sensor system can be increased. For this purpose, the proposed transmitter system can in particular be configured as a photonic multiband radar.

[0017] The electrical emission signals are in particular electromagnetic emission signals.

[0018] The proposed sensor system can increase the signal-to-noise ratio (SNR). Furthermore, there can be less phase noise with the proposed sensor system. Furthermore, the proposed sensor system can be used to perform flexible chirp generation. Furthermore, the number of optical phases can be reduced with the aid of the proposed sensor system.

[0019] For example, with the aid of the first transmission path, such a signal can be transmitted as the first electrical output design signal which corresponds to the frequency of the optical carrier signal. It is also conceivable that a signal with a frequency different from the optical carrier signal is transmitted with the first electrical output design signal.

[0020] For example, the proposed sensor system can be co-integrated in SiGe-SiN, CMOS, Hybrid-BI-CMOS in EPIC processes. The transmitting device can, for example, have various transmitting antennas, transmitting elements or antenna elements, which can transmit the electronic outgoing signals into the environment. For example, the transmitting unit can be transmitting elements such as antenna elements. For this purpose, one or more transmitting units can be arranged on a respective transmission path of the transmitting device. Thus, for example, an antenna array can be spanned,

[0021] The transmitting units can be formed, for example, as circuits, such that each transmission path or circuit can be used to transmit a respective electrical transmission signal. In particular, each transmission path or transmission module can be used to perform an emission of such a signal which has a different or frequency-shifted frequency compared to the other transmission paths and the signals transmitted therein.

[0022] The optical carrier signal, which can be referred to, for example, as an optical transmission signal, can be generated by the optical device, such as an optical signal source or a laser device, and provided to the transmitting device. Based on the optical carrier signal, a respective electrical output signal can be generated, converted, and / or motivated by the transmitting device or through a respective transmission path, such that there are different electrical output signals.

[0023] As already mentioned at the beginning, with the proposed transmission system, it is feasible that the transmission pairs and in particular the different transmission units are controlled such that in a respective transmission process or transmission mode, all transmission units simultaneously or at the same time emit the electrical transmission signals that are frequency-shifted relative to each other. Thereby, an improved ambient field detection and in particular target detection can be achieved.

[0024] For example, the transmission device can control a transmission process or the transmission device receives a corresponding control signal from a superior system of the transmission system to carry out the transmission process.

[0025] Due to physical relationships, the angular resolution of a sensor system, especially a radar system, is determined by the extent of its antenna aperture. By antenna aperture is meant the area on which the individual antennas are distributed. Current sensor systems are mostly modules with a size of approximately 10 x 10 cm 2. The angular resolution is correspondingly limited to approximately 2 degrees. The resolution ability improves proportionally to the size of the aperture. If two objects are to be resolved in angle, i.e., in azimuth and elevation, an aperture extended in two directions is required. Here, the present invention advantageously comes into play and can provide a solution here. The second important parameter in an antenna array is the distance between the individual antenna elements. It determines the measurable angular range. Larger antenna distances lead to ambiguities, such as side lobes in angle measurement. Automotive radar systems therefore use so-called virtual antenna elements. Such a virtual element results from the combination of a transmitting antenna with a receiving channel, precisely at the midpoint of the connection vector. With n transmitting antennas and m receiving antennas, a virtual array of up to n x m elements can thus be generated.This principle is commonly known as "Multiple Input Multiple Output (MIMO)". The proposed sensor system can increase the uniquely measurable angular range of the antenna array.

[0026] In order to detect the environment as safely as possible, a signal-to-noise ratio that is as high as possible and stable signal generation in the sensor are necessary. This is particularly necessary for large apertures with sparse antenna arrangements in order to clearly detect targets. Here, the proposed sensor system can provide a solution. Specifically, today's 77-GHz radars are limited in their range by the maximum transmitted power and the array pattern. In particular, the transmitting device and an optional receiving device can be integrated on a single semiconductor chip, for example in a CMOS, SiM-CMOS, Bi-CMOS, Hybrid-Bi-CMOS or with processes on photonically-electronically co-integrated chips. Thus, for example, with the aid of the invention, a radar sensor device or the sensor system can be produced by mass production using standardized semiconductor processes.

[0027] In particular, with the aid of the sensor system, frequency conversion of a terahertz carrier signal in the gigahertz frequency range can be carried out after optical signal transmission and vice versa reception of gigahertz signals with modulation onto a terahertz carrier signal.

[0028] The sensor system can be configured as a photonic radar sensor device, which realizes an increase in resolution by co-integrating electronic and photonic components in a single semiconductor chip. The tracking of the FMCW signal and the entire signal processing and signal evaluation are carried out by the central station. Each transmit and receive module has an electronically-photonically co-integrated chip, a so-called Epic chip. For the co-integration, a silicon photonics technology is used. This enables the monolithic integration of photonic components, high-frequency electronics, and digital electronics together on a chip. The technological innovation of such a system lies in the signal transmission of gigahertz signals by means of the optical carrier signal in the terahertz frequency range.A central station, which can also be referred to as a central electronic computing device, generates a terahertz optical carrier frequency. The transmitted signal is modulated with one-eighth of the radar frequency onto this and sent via the optical fiber to the antenna chips. Frequency multiplication takes place on these, so that the radar radiation can be emitted by the antenna chips. Signal detection occurs in the reverse direction. All data are processed at the central station. In particular, the invention utilizes the fact that in a photonic semiconductor, radiation of the laser device, which can in particular also be formed as a CW laser, is coupled in by means of an optical interface. This can be the optical transmission signal or a carrier signal of the CW laser.

[0029] The principle of electro - photonic co - integration in a chip, with silicon - on - insulator regions for the photonic components and bulk - silicon regions for the electronic circuits is a unique technology. Especially at high data rates, high signal quality with low parasitic interference can be achieved. The connection of the RF circuits for the radar antennas including frequency multipliers to the optical transceiver can be implemented without additional wire or flip - chip bonding. In addition, chips can be tested optically and electrically already at the wafer level, which enables a high yield in the further module assembly. With this technology, extremely compact form factors can be realized and thus a high relevance for the application of optical technologies based on silicon photonics in the automotive industry.

[0030] In one embodiment, it is provided that the sensor system has a third transmission path of the transmitter device that is different from the first and second transmission paths. The third transmission path is configured to generate a third electronic transmission signal that is based on the optical carrier signal and to provide it to a third transmitter unit of the plurality of transmitter units that is arranged on the third transmission path. Thus, in addition to the two electrical transmission signals, the sensor system can simultaneously transmit another electrical transmission signal in the transmission process. In addition to the third transmission path, further transmission paths can be provided, so that a corresponding number of different signals can be transmitted in the transmission process.The third electrical output signal may have a third frequency different from the first frequency of the first electrical output signal and / or the second frequency of the second electrical output signal. This can be done by the transmitting device. Thus, the transmitting device can be configured to generate three frequency-shifted electrical output signals relative to each other, so that they can be transmitted simultaneously with the respective transmitting unit. Thus, the transmitting device can be configured to transmit the available different electrical output signals synchronously or simultaneously in the transmission process. For this purpose, the transmitting device may, for example, have a control unit.

[0031] In one embodiment, it is provided that the transmitting device has a frequency device, wherein the frequency device has a first frequency conversion unit and a frequency multiplex, and the first frequency device is configured to generate at least the second and third electrical transmission signals based on the optical carrier signal and a frequency shift information. In other words, the transmitting device can provide a corresponding electrical transmission signal for each transmission path and thus for each transmitting unit or transmitting element with the help of the frequency device. For this purpose, the optical carrier signal can be converted and modulated with the help of the frequency device, so that electrically transmitted signals shifted in frequency relative to each other can be generated and provided.The frequency device may have corresponding modulation units and / or conversion units and / or processing units to generate the transmission signals that are frequency-shifted relative to one another and to provide them to the respective transmitting units.

[0032] For example, first, the optical carrier signal transmitted by the transmitter device can be converted into an electrical signal. For this purpose, for example, a photodiode or a phototransistor can be used. Subsequently, this converted signal can be converted or modulated by the first frequency conversion unit, such as a frequency converter, into several electrical output signals. For example, with the help of the first frequency conversion unit, a multiband signal can be generated as a higher-level signal. Based on this multiband signal, the individual different electrical output signals can be generated. After the first frequency conversion unit, the frequency multiplexer can select or assign the electrical output signals according to the transmission paths. The frequency multiplexer can be an integrated FDM ("Frequency Division Multiplex").The multiband signal generated by the frequency converter can be multiplexed onto the individual frequency bands by means of FDM and assigned or allocated to the respective transmission paths.

[0033] In one embodiment, it is provided that the second transmission path has a second frequency conversion unit, the second frequency conversion unit being configured to generate the second electrical transmission signal based on the optical carrier signal and given frequency shift information. Thus, the second transmission path and in particular any further transmission path can independently generate the respective electrical transmission signal. For example, a signal of the transmitting device can be provided on the input side as the optical carrier signal and transmitted from there to the respective transmission paths, so that each transmission path can generate the respective electrical transmission signal with the aid of its own frequency conversion unit. Here, the given frequency shift information is taken into account by the optical carrier signal.

[0034] With the frequency shift information, it can be specified which frequency the respective electrical output signal can have. For example, for each transmission path and each frequency conversion unit of a respective transmission path, a control signal can be provided with the frequency shift information, which adjusts or parameterizes the frequency conversion units such that they generate signals with frequencies shifted relative to one another. Thus, a respective transmission path can be provided with an electrical output signal that is different from the other transmission paths with respect to the frequency, so that signals shifted in frequency and / or frequency-modulated relative to one another can be transmitted with the transmission units.Additionally or instead, the second transmission path may have an amplifier unit arranged between the second frequency conversion unit and the second transmission unit, the second amplifier unit being configured to amplify the second electrical output signal for transmission. Thus, after the conversion of the optical carrier signal into the second electrical output signal, this can optionally be electrically amplified again before actual transmission in order to be able to transmit the second electrical output signal with sufficient signal strength. This is advantageous for target detection and particularly for ambient field detection.

[0035] Stated otherwise, a respective transmission path can have an amplifier unit, in particular an electrical amplifier, in order to amplify once again the respective electrical output signals of a respective transmission path for transmission, in order to improve the quality for transmission and the corresponding ambient detection.

[0036] In one embodiment, it is provided that the first transmission path and at least the second transmission path are arranged together on a common integrated circuit. Thus, the transmitting device can include the corresponding transmission paths, so that the transmitting device can be realized more compactly. Thus, all corresponding units which are required for the simultaneous transmission of the frequency-shifted electrical transmission signals can be integrated on a module or a circuit. For example, the transmitting device can be formed as a one-chip system. Thus, the transmitting device can be formed as a "one-chip solution".

[0037] Alternatively, it is also conceivable that the first transmission path and at least the second transmission path are each arranged on their own integrated circuit. Thus, there can be a separate chip for each transmission path, so that the respective transmission paths on which the respective transmission units are arranged or integrated can be used flexibly depending on the application case of the sensor system. This is particularly advantageous when the sensor system is used in the automotive field. Here, the respective transmission paths, which in turn can have individual antenna elements, can be formed separately in order to be able to arrange them, for example, distributed around the vehicle.

[0038] In one embodiment, it is provided that the sensor system has a receiving device which has a plurality of receiving units, the receiving device being configured to receive an electrical received signal which is based on the transmitted electrical transmission signals. The receiving device can be, for example, a separate or independent unit from the transmitting device. With the help of the receiving device, the electrical transmission signals simultaneously transmitted in the transmission process can be received while they are reflected by objects such as target objects in the environment. This receiving device can have a plurality of receiving units, such as receiving antennas or antenna elements. It is also conceivable that a respective receiving unit is arranged on a receiving path.Thus, similar to the transmitting device, the receiving device can have multiple receiving paths, with at least one receiving unit assigned to each receiving path. After a respective receiving antenna has received an electrical reception signal, this can optionally be amplified by a respective amplifier unit before the actual signal processing or ambient field detection is carried out.

[0039] For example, the receiving device can be configured as a unit or an integrated circuit, such that all receiving units are arranged or integrated together on a common unit or as an integrated circuit. It is also conceivable that the individual receiving units are arranged on their own integrated circuits or modules, whereby the receiving units are physically and spatially separated from each other. As a result, the receiving device can in turn also be used flexibly.

[0040] In one embodiment, it is provided that the receiving device has a signal processing unit which is coupled to the receiving units, the signal processing unit being configured to mix each electrical received signal of the electrical received signals with an electrical carrier signal which can be generated by an electrically required optical conversion of the optical carrier signal. With the help of the signal processing unit, which may be an electrical and / or electronic system, preprocessing of the received signals of the receiving units can be carried out, so that by this preprocessing, subsequent ambient field detection or target detection can be carried out more simply and in particular more efficiently. For this purpose, the signal processing unit can, for example, mix the received electrical received signals of the receiving units with the original transmission signal.Here, the original transmission signal is to be understood as an electrical reception signal which is based on the optical carrier signal. In other words, the optical carrier signal of the transmitting device is transmitted to the receiving device so that, based on the received information signals, the corresponding information can be worked out in order to be able to carry out a corresponding target direction and / or environment detection.

[0041] Another aspect of the invention relates to a vehicle having a sensor system according to the previous aspect or an advantageous development thereof. In particular, the vehicle can be a motor vehicle, such as a passenger car or a truck.

[0042] For example, it can be provided that the antenna array has a plurality of antenna elements, which are arranged distributed at a distance from each other on the vehicle. Thus, an as efficient as possible detection of the vehicle's surroundings can be carried out. By the distributed arrangement of the individual antenna elements on the vehicle, in particular a 360-degree environmental detection can be carried out.

[0043] For example, the antenna elements of the antenna array can be formed in a "Sparse Array" configuration. In particular, the antenna elements of the antenna array can be arranged on the vehicle in a thinly populated or sparsely populated configuration.

[0044] Embodiments of individual aspects of the invention are to be regarded as advantageous embodiments of other aspects. In particular, the respective embodiments of individual aspects can be regarded as advantageous embodiments of all other aspects. This also applies in the reverse manner.

[0045] Another aspect of the implementation relates to a method for operating a sensor system according to the previous aspect or an advantageous development thereof, the method having the following steps:

[0046] - Generating the optical carrier signal,

[0047] - Transmitting the optical carrier signal to the transmitting device,

[0048] - Providing the first electrical output signal to the first transmitting unit,

[0049] - Generating the second electrical output signal depending on a frequency shift specification,

[0050] Providing the second electrical external signal to the second transmitting unit,

[0051] - Simultaneously transmitting the first and second electrical external signals in the transmission process.

[0052] By the proposed method, a sensor system, such as the sensor system according to the previous aspect, can be operated more efficiently. In particular, the proposed method enables improved environmental detection and in particular a more accurate or precise target detection of targets in the environment of a sensor system.

[0053] Above all, the electrical external signals, which are a variety of signals, can be transmitted simultaneously, at the same time or synchronously. In other words, with the help of the proposed method, the sensor system can be operated so that a simultaneous emission of signals shifted in frequency relative to each other and / or frequency-modulated signals can be carried out in a transmission process. Based on these simultaneous emissions of the transmitted signals, corresponding return signals or reflected signals in the environment can be received, so that an environmental detection and / or a target detection can be carried out based on the simultaneously transmitted external signals and the corresponding received signals.

[0054] In another embodiment of the aforementioned aspect, it is provided that immediately after the transmission process, electrical reception signals, which are based on the transmitted electrical transmission signals, are received, and based on the temporally observed electrical transmission signals and the received electrical reception signals, a virtual antenna array regarding the sensor system is generated, and with the generated virtual antenna array, signal processing for environment detection can be carried out. By this virtual generation of virtual antennas, for example, to increase the smaller number of physical antennas software - technically, i.e., virtually, the resolution of the sensor system can be increased. In particular, cost savings can be achieved since the number of physical, i.e., actual, antennas can be reduced.Based on the transmitted signals, the received signals, and the arrangement of the actual or physical receiving units and / or transmitting units, further virtual antenna elements can be constructed. For example, a virtual antenna can be generated between two physical antennas, so that the processing of data, information, and / or signals can be performed more efficiently or improved. Above all, the environmental field detection, especially the target detection of the sensor system, can be improved thereby.

[0055] For example, with the present invention, a single-shot method for generating virtual antenna arrays by means of a photonic multiband radar can be realized or implemented. Another aspect of the invention relates to a vehicle with a sensor system according to the previous aspect or an advantageous further development.

[0056] For example, the vehicle may be a manually operated vehicle, a partially autonomous vehicle, or a fully autonomous vehicle. In other words, the vehicle may be a highly automated vehicle.

[0057] For example, it may be provided that the antenna array has a plurality of antenna elements which are arranged distributed at a distance from one another on the vehicle. Thus, the environment of the vehicle can be detected as efficiently as possible. In particular, a 360-degree environmental detection can be carried out by the distributed arrangement of the individual antenna elements on the vehicle.

[0058] Embodiments of individual aspects of the invention are to be regarded as advantageous embodiments of other aspects. In particular, the respective embodiments of an individual aspect can be regarded as advantageous embodiments of all other aspects. This also applies in the reverse manner.

[0059] Advantageous embodiments of the method or methods are to be regarded as advantageous embodiments of the sensor system and the vehicle. The sensor system and the vehicle have object-related features for this purpose, which enable the implementation of the method or an advantageous embodiment thereof. The invention also includes developments of the method according to the invention and of the vehicle according to the invention which have the features as already described in connection with the developments of the sensor system according to the invention. For this reason, the corresponding developments of the method according to the invention and of the vehicle according to the invention are not described here again. The invention also includes the combinations of the features of the described embodiments.

[0060] In the following, exemplary embodiments of the invention are described. For this purpose:

[0061] Fig. 1 is a schematic representation of a vehicle with a sensor system, which has antenna elements of an antenna array distributed on the vehicle;

[0062] Fahrzeug verteilt angeordnete Antennenelemente eines Antennenarrays aufweist;

[0063] Fig. 2 is a schematic block diagram of the sensor system of Fig. 1;

[0064] Fig. 3 is a schematic representation of the vehicle of Fig. 1, where here a real antenna array and a virtual antenna array for ambient field detection are shown;

[0065] Antennenarray und ein dazu virtuelles Antennenarray zur Umfelderfassung dargestellt ist;

[0066] Fig. 4 shows various external signals that are frequency-shifted relative to each other;

[0067] Fig. 5 is a schematic representation of the simultaneous emission of frequency-shifted signals starting from Figs. 3 and 4, in order to virtually generate a virtual antenna array based thereon;

[0068] Fig. 6 is a schematic representation of an electronic computing device for providing an optical carrier signal for a transmitting device and a receiving device of the sensor system.

[0069] Fig. 7 is a schematic embodiment of a sensor device of the sensor system, where each respective transmission path performs its own frequency conversion here, as well as a corresponding receiving device to be able to receive the signals transmitted simultaneously;

[0070] Fig. 8 is a further variant starting from Fig. 7, where here the receiving device is formed from several integrated circuits;

[0071] Fig. 9 is a further possible configuration of the

[0072] transmitting device;

[0073] Fig. 10 is a further configuration of the transmitting device starting from Fig. 7, 8 and 9;

[0074] Fig. 11 in turn shows a further embodiment of the transmitting device;

[0075] Fig. 12 shows a schematic further embodiment of the computing device of the sensor system;

[0076] Fig. 13 shows a further embodiment of the transmitting device, wherein here each transmission path filters or selects the respective passing signal from a plurality of optical signals by means of a respective optical filter unit;

[0077] Fig. 14 shows a further conceivable embodiment of the transmitting device starting from Fig. 13;

[0078] Fig. 15 shows a further embodiment of the transmitting device starting from Figs. 13 and 14; Fig. 16 shows a further embodiment of the transmitting device starting from Figs. 13 to 15; and

[0079] Fig. 17 shows a further conceivable embodiment of the transmitting device starting from Fig. 13.

[0080] In the following exemplary embodiments, which are preferred exemplary embodiments of the invention, the components described in each of the exemplary embodiments represent individual features of the invention to be considered independently of one another, which further develop the invention independently of one another and thus are also to be regarded as components of the invention individually or in a combination other than the one shown. Furthermore, the exemplary embodiments described can also be supplemented by further features of the invention already described. In the figures, functionally identical elements are each provided with the same reference signs.

[0081] FIG. 1 shows various schematic views (front view, rear view, side view) of a vehicle 1, which can be a motor vehicle. The vehicle 1 includes, for example, a sensor system 2.

[0082] 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 for example 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, especially for vehicles. In addition to being used in the vehicle 1, the sensor system 2 can also be used in external vehicle systems.

[0083] For example, the sensor system 2 has at least one antenna array 3 or several 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 spaced apart from one another on the vehicle 1, especially for 360-degree environmental detection.

[0084] Figure 2 shows a possible 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 separated 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.

[0085] The central electronic computing device 6 is a central unit. For example, the central electronic computing device 6 can generate an electrical control signal with which a laser device 7 can be controlled or steered. The laser device 7 can be, for example, a CW laser. With the aid 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 with one-eighth of a radar frequency onto this optical carrier frequency and, for example, transmitted to the radar sensor device 5. In this way, frequency multiplication can take place.Again, signals in the gigahertz frequency range can be received with the aid of the radar sensor device 5 and transmitted to the central electronic computing device 6.

[0086] 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 in each case. Thus, a bidirectional signal transmission can take place between the central electronic computing device 6 and the radar sensor device 5.

[0087] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0088] The central electronic computing device 6 may further include 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 an 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 may include a processing unit 14 or a computing unit with which the received optical output signal can be processed. Thus, signal detection and subsequent data processing of the received output signal 11 can be performed.

[0089] In particular, the central electronic computing device 6 may have or provide all necessary control signals, data processing signals, modules and interfaces.

[0090] For example, in addition to the optical input 10 and the optical output 11, the radar sensor device 5 may have 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. It is also conceivable that they are located on different semiconductor chips.

[0091] 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 the 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 now reflected in the environment 18 by objects such as traffic participants, roads, trees or other objects, an electrical received signal 19 that corresponds to the electrical radar transmission signal 17 and is reflected in the environment 18 can be received.

[0092] For example, the transmitting device 15 can have at least one antenna or an antenna unit or multiple antennas for transmission.

[0093] For example, the transmitted radar transmission signal 17 or electrical transmission signal and the received reception signal 19 may be in the terahertz frequency range or the gigahertz frequency range. Thus, with the aid of the sensor system 2, a frequency conversion of a terahertz carrier signal, in particular a transmission signal 8, into the gigahertz frequency range for transmission can be carried out. In a reverse manner, the reception of gigahertz signals with modulation onto a terahertz carrier signal can be carried out. For example, the transmitting device 15 may have at least one grating coupler and a photodiode for transmission. The receiving device 16 may have, for example, two jitter couplers, a photodiode, and a modulator for reception.

[0094] With the sensor system 2, it can be modulated at 1 / 8 of the radar frequency and sent via an optical fiber to the antenna chips or antenna elements 4. Specifically, frequency multiplication takes place here so that the radar radiation can be emitted by the antenna chips. The signal detection can optionally be done in the reverse way. All data can be processed at the central station.

[0095] Fig. 3 shows a further schematic illustration of the vehicle 1, where, by way of example, the antenna array 3 or some other antenna array of the sensor system 2 is arranged on the vehicle 1 such that environmental detection can be carried out laterally of the vehicle 1. In other words, an arrangement of transmit or receive antennas, such as the antenna array 3, is shown in elevation here. A further embodiment with azimuthal extension is also conceivable and realizable.

[0096] In order to be able to perform improved environmental perception, it is advantageous if the respective sensor system or the sensory data processing is not limited to a single frequency band. In the automotive field, for example, 77 GHz or 24 GHz is typically used today in the ranges in which the sensors operate. However, both frequencies can be limited in their maximum range by the maximum emitted power. In addition, two different optoelectronic semiconductor chips are required for the transmitter and receiver channels, which leads to additional cost. To remedy this, miniaturized, photonically integrated radar chips can be used in a coherent distributed antenna array, which is integrated over a large area in and on the vehicle.In this context, a conversion of the optically transmitted radar signal onto an electronically-photonic co-integrated semiconductor circuit can be contemplated at at least two different frequencies. For this purpose, a simultaneous synchronous emission of a frequency-shifted and / or frequency-modulated transmission signal is furthermore carried out. An optical connection of the radar chips to a coherent overall system is equally conceivable and a mixing of time-delayed reception signals with the frequency-modulated transmission signal can be carried out. These approaches are applied by the present invention in order to be able to improve the environmental detection with the sensor system 2.

[0097] In order to achieve cost savings, especially due to fewer antenna elements, while still having a higher resolution and thus better direction probability, a virtual antenna array 35 can be generated based on a computer. In other words, this means that by simultaneously emitting external signals that are frequency-shifted relative to each other, a virtual antenna array 35 can be generated. Expressed in other words, the virtual antenna array 35 is generated by simultaneously emitting frequency-modulated multiband radar signals.

[0098] In the following Fig. 4, two schematic frequency representations 36, 37 are shown by way of example. In representation 36, exemplary frequency-modulated multiband transmission signals 38 are shown. These can be transmitted simultaneously by several transmission units, such as the antenna elements 4 for example. The respective frequency offset by which the different frequency bands of the signals 38 are shifted relative to each other can, as in representation 36, not interfere with each other, or as in representation 37, the different signals 38 can interfere with each other in a respective adjacent frequency band or in the frequency of the subsequent signal 38. Expressed in other words, in representation 36 the signals do not overlap in their frequency bands. In representation 37, the frequency bands of the signals 38 can overlap. The overlap has the particular advantage that a larger virtual apparatus 35 can be spanned.

[0099] As shown, for example, in Fig. 3, such an arrangement of antenna elements, such as transmitting and receiving elements, for ambient field detection can thus be considered virtually by the virtual apparatus 35, which is larger compared to the real antenna array 3, as exemplarily shown in Fig. 3.

[0100] In particular, the virtual antenna array 35 can be spanned by simultaneously emitting frequency-modulated multiband transmission signals 38. The frequency-modulated multiband transmission signal used can be diverse in the frequency domain. Objects that fall within the spectral range of the individual modulation bandwidth can be detected and resolved into innervation by the enlarged virtual apparatus 35. For this purpose, two different circuits can be integrated in an electronically-photonic and co-integrated semiconductor circuit, so that two different gigahertz frequency bands can be generated with an optical carrier signal. This uses the present idea and in particular the proposed sensor system 2.

[0101] In Fig. 5, a schematic illustration regarding the generation of the virtual antenna array 35 is shown based on the previous embodiments. In Fig. 5, the transmitting device 15 is shown by way of example, which can have various transmitting elements. Here, the different signals 38 of the illustration 36 can each be transmitted with a respective transmitting antenna. Subsequently, corresponding responses or backscatter signals can be received by the receiving device 16 with receiving antennas. Based thereon, the virtual antenna array 35 can be generated, which has a large number of antennas compared to the real antenna elements of the devices 15, 16, since real antennas and virtual antennas are combined. The calculation of the virtual antenna array 35 is performed, for example, after receiving the real received signals.

[0102] In particular, Fig. 5 shows a representation of the virtual antenna array 35 or a virtual apparatus, which is generated by simultaneously emitting frequency-modulated multiband signals.

[0103] In the following figures, various variants will now be explained in order to be able to perform the simultaneous emission of signals that are frequency-shifted relative to each other, in order to be able to span or generate the virtual antenna array 35.

[0104] Fig. 6 shows a further conceivable embodiment of the sensor system 2. Here, the sensor system also has the computing device 6, which can have a different configuration or equipment in this embodiment.

[0105] Specifically, the sensor system 2 has a plurality of transceiver units, such as the antenna elements 4, which can be arranged, for example, distributed on the vehicle 1, in particular for ambient field detection.

[0106] The transmitting and receiving units or antenna elements 4 are applicable both for sending and for emitting or for receiving signals. Thus, the transmitting and receiving units are combined units for emitting and receiving signals.

[0107] In particular, such a transceiver unit can be referred to as a transceiver module. This can be embodied or formed from an electronically-photonic co-integrated chip (so-called "EPIC chip"). The computing device 6, which can be referred to as the central unit, can also be formed from an electronically-photonic co-integrated chip. In particular, the computing device 6 is a physically and / or spatially separated unit from the transceiver units. 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 formed as an optical source or as a CW laser. With the aid 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 formed as an optical carrier signal in the terahertz frequency range.For example, the computing device 6 can generate the optical carrier frequency. The signal to be transmitted can be modulated with one-eighth of a radar frequency onto this optical carrier frequency and, for example, transmitted to the transceiver units. In this way, frequency multiplication can take place. Again, signals in the gigahertz frequency range can be received with the aid of the transceiver units.

[0108] For example, the computing device 6 can be connected to a respective transceiver unit via an optical fiber 9, as an optical transmission path. Signals, in particular optical signals, can be transmitted from the computing device 6 to the individual transceiver units via the optical fiber 9. In order to be able to send back the received signals of the transceiver units to the computing device 6 for evaluation or signal processing, a respective transceiver unit can be optically coupled to the computing device 6 via an optical return channel 20.

[0109] With at least one of the transceiver units, the electrical transmission signal 17 can be sent, in particular, into the environment 18. Also, an electrical reception signal 19 corresponding to the electrical transmission signal 17 can be received again with the transceiver unit. For example, the transmission signal 17 can be reflected by an object in the environment 18 of the vehicle 1 and thus be received as an electrical reception signal 19. The reception signal 19, which can be referred to, for example, as a radar signal, 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 transceiver unit. For example, this can be transmitted via the feedback channel 9 of the computing device 4. By means of an opto - electrical converter unit 22 orThe detector unit of the computing device 6 can in turn convert the optical reception signal 21 into an electrical signal 23. The unit 22 can be used, for example, for optical detection. For this purpose, the conversion can be carried out, for example, by homodyne detection or heterodyne detection. Furthermore, the unit 22 can carry out a phase measurement and / or a phase length measurement.

[0110] Subsequently, digitization can again be carried out via a digital interface 24. In particular, an analog-to-digital conversion can be carried out here. For this purpose, the digital interface 24 can have an analog-to-digital converter. Subsequently, a processing unit 14 can be arranged. With this, for example, signal processing, especially for a "low-level signal", can be applied. For example, a Fast Fourier Transformation (FFT) can be used for this purpose. Subsequently, the digitized and processed electrical signal 23 can be provided to a CPU 25 of the computing device 6. In particular, the radar information or environmental information contained in the electrical signal 23 can be evaluated or processed here.Furthermore, an electrical feedback channel 26 may be provided, which provides a feedback from at least one of the transceiver units to the computing device 6 and in particular to the digital interface 24.

[0111] In order to be able to perform the most stable and quiet ambient field detection of the sensor system 2, the optical transmission signal 8 can be adjusted 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 supplied or transmitted to the synthesis unit 27. For example, modulation can be performed before the optical transmission signal 8 is provided to the synthesis unit 27. For this purpose, for example, a modulator or modulation unit 28 can be provided. This can be formed, for example, as an arbitrary waveform 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 is provided in the computing device 6 to be able to make signals appropriately processed by the synthesis unit 27 available to the transceiver units via the fiber optic 9. Furthermore, a control unit 31 can be controlled by the evaluation unit 25 to be able to monitor or control, in particular, the generation of the optical transmission signal. Furthermore, a control unit or a feedback loop 32 can be provided.

[0112] Furthermore, the computing device 6 is electrically connected to the transceiver units by means of an electrical transmission line 33. An electrical control signal 34 can be transmitted via this electrical transmission line 33 to control or drive the transceiver units or antenna elements 4.

[0113] Specifically, the computing device 6 serves to generate an optical carrier signal, the optical transmission signal 8, and feed it into a gigahertz frequency synthesizer unit, for example, the synthesizer unit 27. The synthesized gigahertz signal can be transmitted in the optical spectral range via a fiber, that is, the glass fiber 9, to the transceiver units, so that, for example, a 77 gigahertz signal can be emitted or transmitted by the transceiver units. The signal detection, in turn, can be carried out in the reverse way. All data can be processed in the computing device 6.

[0114] In the representation of Fig. 6, the optical carrier signal 8 can be referred to as an optically frequency - modulated carrier signal. This can be fed into a gigahertz - frequency synthesis unit, such as the synthesis unit 27, and the synthesized gigahertz signal can be further transmitted in the optical spectral range to the transmitting device 15, for example, to be imitated as a 77 GHz signal. In Fig. 7, an example of a further representation of the transmitting device 15 and the receiving device 16 is shown. Here, a variant is now shown of how the simultaneous transmission of frequency - shifted signals can be carried out. First, the optical carrier signal 8 can be supplied or transmitted to the transmitting device via an optical fiber 9 at an input side or coupling region.The optical carrier signal 8, which can for example be referred to as an optical multiband signal, can first be converted by means of an optoelectronic converter unit, such as a photodiode 39, into an electrical signal, in particular an electrical multiband signal. This can optionally then be amplified or processed by an amplifier 40.

[0115] For transmitting the different frequency-shifted signals, the transmitting device 15 can be divided into different or several transmission paths 41 to 44. For example, the amplified electrical transmission signal after the amplifier 40, which can be designated as the first electrical transmission signal 45, can be transmitted by means of a first transmitting unit 46. Thus, the first electrical transmission signal 45 can be a base signal which, for example, has the same frequency as the optical carrier signal 8.

[0116] The electrical signal after conversion by the photodiode 39 can in particular be provided to or transmitted over all transmission paths 41 to 44.

[0117] Furthermore, the second transmission path 42 can have a second frequency conversion unit 47 with which a second electrical output signal 48 can be generated. Here, the optical carrier signal 8 and a predetermined frequency shift information can be taken into account. The second electrical output signal 48 can be transmitted by a second transmission unit 49. For example, the second electrical output signal 49 can be amplified by a second amplifier unit 50 before transmission.

[0118] The optional third transmission path 43 may also have a frequency conversion unit, i.e., a third frequency conversion unit 51, with which a third electrical output signal 52 can accordingly be generated, so that this can be transmitted by a third transmitting unit 53. For this purpose, the third electrical output signal 52 can again be amplified by means of a third amplifier unit 45 before transmission.

[0119] In addition to the arrangements regarding the second and third transmission paths 42, 43, further transmission paths 44 may be provided, which in turn have further frequency conversion units 55 for providing or converting further electrical output signals 56. Thus, these signals can again be transmitted with further transmitting units 57. Also, the further transmission paths 44 may have further amplifier units 58. In other words, depending on how many different electrical output signals 45, 48, 42, 56 are to be transmitted, the transmitting device 15 may have a corresponding number of transmission paths 41 to 44. In particular, the respective transmission path may have or include the frequency conversion unit, the amplification unit, and the transmitting unit.

[0120] Regarding the electrical output signals 45, 48, 52, 56, reference may be made to the explanations regarding Figs. 4 and 5. As already explained there, the electrical output signals 45, 48, 42, 56 are frequency-shifted and thus have different frequencies or frequency bands relative to one another. In particular, the transmitting device 15 can be configured to transmit the electrical output signals 45, 48, 52, 56 simultaneously or at the same time in a transmission process.

[0121] In particular, with the aid of the computing device 6, the optically frequency - modulated carrier signal, i.e., the optical carrier signal 8, can be optically fed on the side of the transmitting device 15 and, upon hitting the photodiode 39, be converted from the optical to the electrical domain. A downstream frequency - conversion unit, such as the individual frequency - conversion units of the transmission paths 41 to 44, can convert the incoming high - frequency signal to the target frequency to be emitted, i.e., the electrical output signals 45, 48, 52, 56. Prior to radiation by a corresponding transmitting antenna element, i.e., the transmitting units 46, 49, 53, 57, an amplification can optionally be carried out.

[0122] After simultaneously transmitting the electrical transmission design signals 45, 48, 52, 56, corresponding electrical reception signals 59 to 61 can be received. For this purpose, the receiving device 16 can have several receiving units 62 to 65. With the help of the receiving units 62 to 65, which can be receiving antennas, the electrical reception signals 59 to 61, which are based on the transmitted electrical transmission design signals 45, 48, 52, 56, can be received. After reception, the received signals can be processed or amplified by means of amplifier units 66 to 69 in order to better process them further and in particular to be able to transmit them.

[0123] The received electrical reception signals 59 to 61 can be provided or transmitted after being received by a signal processing unit 70. This can be an electrical or electronic unit, which can be coupled to the receiving units 62 to 65. The signal processing unit 40 can be configured to mix each electrical reception signal 59 to 61 with an electrical carrier signal 71, which has been generated by an optoelectronic conversion 72, for example by means of a photodiode 72. Thus, the original information regarding the optical transmission signal would be mixed with the received signals in order to be able to perform a corresponding target detection or ambient field detection.As a result, for example, the optical reception signal 21 or several such optical reception signals can be transmitted to the computing device 6 for ambient field detection or target detection. For this purpose, a corresponding optical modulator 73 can in turn be arranged downstream of the signal processing unit 70, which can modulate the electrical signals after the signal processing unit 70, for example, with the optical carrier signal 8 and can generate or provide the optical reception signal 71 accordingly.

[0124] Expressed in other words, on the receiving side, all receiving units 62 to 65 can receive signals, which can be a time-delayed multiband signal. This can optionally be amplified and mixed with the original transmission signal.

[0125] For example, the electrical external signals 45, 48, 52, 56 can be emitted simultaneously. These signals can for example correspond to the different frequency-shifted signals 38 in Fig. 5 or can be formed in an analogous manner.

[0126] In Fig. 8, a further example of the transmitting device 15 and receiving device 16 is shown. Here, the transmitting device 15 can be configured analogously to the transmitting device 15 in Fig. 7.

[0127] In this example, the receiving device 16 can be divided into receiving paths 74 to 77. Here, each respective receiving path 74 to 77 can each have a receiving unit and, for example, an amplifier unit, as explained in Fig. 7. Thus, the receiving device 16 can be designed more flexibly here, since the individual transmission paths 74 to 77 can be treated, for example, like individual modules or circuits and can thus be positioned differently. The other configurations of the receiving device 16 from Fig. 7 can also be applied here. In Fig. 9, a further schematic embodiment of the transmitting device 15 is shown. In comparison to the transmitting device 15 shown in Figs. 7 and 8, in this embodiment, the transmission paths 41 to 44 can be physically and / or separate units, modules and / or circuits from each other.Thus, the individual transmission paths 41 to 44 and the corresponding respective transmission units 46, 49, 53, 57 can be positioned flexibly depending on the application area of the sensor system 2.

[0128] In particular, the configuration in Fig. 9 has the advantage that the transmitting device 15 can be referred to as a photonic multiband transmission unit, enabling a modular configuration with simultaneous emission on different frequency bands for the flexible generation of a virtual antenna array.

[0129] Figure 10 shows a further embodiment of the transmitter device 15. The difference compared to the embodiments in FIGS. 7 to 9 now lies in the fact that instead of the individual transmission paths 41 to 44 having individual frequency conversion units 47, 51, 55, there is a central frequency device 78. With this frequency device 78, which can be connected or arranged between the input side of the transmitter device 15 and the transmission paths 41 to 44, different electrical output signals 45, 48, 52, 56 can be generated or provided based on the optical carrier signal 8 and the frequency shift information. For this purpose, the frequency device 78 can have a first frequency conversion unit 79, such as a frequency converter, and a frequency multiplex 80, such as an integrated FDM (Frequency - division multiplexing).Thus, for example, the multi-band signal generated by the frequency converter, i.e., the first frequency conversion unit 79, that is, the converted optical carrier signal 8, can be multiplexed onto the individual frequency bands by means of the frequency multiplexer 80 and provided to the corresponding transmission paths 41 to 44. The individual transmission paths can, in turn, amplify the corresponding signals as described previously. The other embodiments of the previous figures can also be considered here.

[0130] In Fig. 11, starting from Fig. 10, a further schematic illustration of an embodiment of the transmitter device 15 is shown. The same embodiments as in Fig. 10 apply here, where, in comparison to Fig. 10, the same paths 41 to 44 and the frequency device 78 are arranged on separate modules or integrated circuits, such that these units are physically and / or spatially separated from each other. As a result, the transmitter device 15 can be used more flexibly and universally depending on the application case of the sensor system 2.

[0131] As can be seen here by way of example, with respect to the frequency device 78 on the chip, the input side of the transmitter device 15, such as the photodiode 39 and the coupling point, can also be arranged. In contrast, in Fig. 10, comparatively all components in the transmitter device 15 are arranged or integrated on a chip or a module.

[0132] The following is a schematic process explanation of how an improved ambient field detection can be carried out with the aid of the proposed sensor system 2.

[0133] 1. The central unit, such as the computing device 6, provides control signals and an optical signal, such as the carrier signal

[0134] 2. The optical signal is transmitted to the GHz frequency synthesizer unit

[0135] 3. The GHz signal is modulated onto the optical carrier signal and transmitted to the radar frontend (EPIC chips)

[0136] 4. Detection of the optical carrier signal in the EPIC chip by a photodiode corresponds to frequency conversion into the low GHz spectral range, e.g., 6 or 9 GHz

[0137] 5. Forwarding of the GHz signal to two circuits: a. Amplification of the low GHz spectral range and emission through an antenna b. Frequency conversion, e.g., into the 77 GHz spectral range, amplification, and emission through an antenna 6. Forwarding of the electronic GHz signal to an antenna

[0138] 7. Detection of the reflected radiation by an antenna and return of the received signal to the central station by modulation onto an optical carrier signal

[0139] 8. Detection of the optical radiation in the central station, ADC sampling, and coherent processing

[0140] 9. Individual and / or joint coherent or incoherent processing of the data from both frequency bands.

[0141] 10. Forwarding of the data, e.g., to an environmental model

[0142] In the following FIGS. 12 to 17, further configurations or embodiments of the computing unit 6, the transmitting device 15, and the receiving device 16 are explained. Here, these, in particular minor, changes are present in order to realize the simultaneous transmission or sending of the electrical transmission signals 45, 48, 52, 56.

[0143] The explanations regarding the computing unit 6, the transmitting device 15, and the receiving device 16 apply here at least partially (FIGS. 6 to 11).

[0144] In Fig. 12, a further schematic embodiment of the computing device 6 is shown starting from Fig. 6. Here, contrary to the descriptions regarding Figs. 6 to 11, the computing device 6 can generate optical transmission signals 81 based on the optical carrier signal 8 and in particular a frequency shift specification. In particular, the generation of these optical transmission signals 81 can be carried out by modulating the optical carrier signal 8. Above all, these optical transmission signals 81 can be frequency-shifted and / or frequency-modulated relative to each other. For this, reference may be made to the configuration of the mutually frequency-shifted signals 38 in Fig. 4 and in Fig. 5. In a similar configuration, the optical transmission signals 81 can be configured relative to each other with respect to their frequency shift.In particular, for example, a gigahertz signal can be modulated onto the optical carrier signal 8 and transmitted to the transmitting device 15. In order to be able to select or divide the different optically transmitted signals 81 that are frequency-shifted relative to one another, the optical switch or distributor 30 can advantageously be used or applied here.

[0145] In Fig. 13, starting from Fig. 12, a schematic representation of the transmitting device 15 is shown. Contrary to the embodiments in Figs. 7 to 11, the optical transmission signals 81 are transmitted to all transmission paths 41 to 44. In this variant, the transmitting device 15 can have a signal provision device 82, which can consist of several components. The signal provision device 82 can have several optical filter units and opto - electrical converter units. With the signal provision device 82, the electrical output signals 45, 48, 52, 56 can be generated based on the optical transmission signals 81 and these generated electrical output signals 45, 48, 52, 56 can be assigned to the respective transmission paths 41, 42, 43, 44 based on the respective frequencies or frequency bands.

[0146] For example, the signal provision device 82 may have a first optical filter unit 83, which may be arranged in the first transmission path 41. With the aid of the first optical filter unit 83, the optical transmission signal corresponding to the first electrical output signal 45 can be selected or filtered from the plurality of optical transmission signals 81. Thus, the transmission path 41 can filter or select the signal passing through it by itself with the aid of the optical filter unit 83, which may be an optical filter. Subsequently, the selected optical transmission signal can be converted into the first electrical output signal 45 by means of an opto - electrical conversion unit 84, such as a photodiode or a phototransistor. Contrary to the configurations in the previous figures, here the first transmission path 41 may also have an amplification unit 91.

[0147] The second transmission path 42 can in turn have a second optical filter unit 45, with which such an optical transmission signal of the optical transmission signals 81 can be filtered and selected, which corresponds to the second electrical output transmission signal 48. Subsequently, the second electrical output transmission signal 48 can in turn be generated or converted by an opto-electrical converter unit 48.

[0148] The third transmission path 43 can in turn have a third optical filter unit 87, with which an optical signal corresponding to the third electrical output signal 52 can be filtered from the optical signals 81. Subsequently, a conversion of the optical signal range into the electrical signal range can in turn be effected by means of an optoelectronic converter unit 88. The further transmission paths 44 can each likewise have an optical filter unit 89 and corresponding optoelectronic converter units 90 in order to be able to provide the corresponding further electrical output signals 56 for transmission.

[0149] Expressed in other words, each transmission path 41 to 44 can select the respective required electrical output signal 45, 48, 52, 56 by selection of the optical signals 81 with respect to the relevant frequencies and frequency ramps by means of an optical filter.

[0150] In this embodiment with respect to the temporal transmission of the frequency-shifted signals, with respect to reception or the reception process, the receiving device 16 from the previous embodiments in FIGS. 7 to 11 can be used. Here, after the simultaneous emission of the frequency-shifted frequency-modulated transmission signals has taken place, the time-delayed received signals could be mixed with the frequency-modulated optical transmission signal. In particular, the transmitting device 15 is here, by way of example, again configured such that the transmission paths 41 to 44 are physically and / or spatially separated units from one another.

[0151] In an analogous embodiment to the previous ones, here again the transmitting device 15 can transmit the electrical transmission signals 45, 48, 52, 56 simultaneously.

[0152] In Fig. 14, a further possible configuration of the transmitter device 15 is shown starting from Fig. 13. On the one hand, it is shown here that all components of the transmitter device are integrated on a chip, so that the transmission paths 41 to 44 are arranged on a common chip here. Furthermore, the signal provision device 82 is configured differently here compared to Fig. 13.

[0153] Here, the signal provision device 82 has an optical filter unit 92, which performs signal provision for all transmission paths 41 to 44. Thus, here the transmission paths 41, 44, in comparison to the configuration in Fig. 13, do not each have their own optical filters, but are correspondingly supplied signal-technically by the higher-level optical filter unit 92. The optical filter unit 92 can in turn filter the optical transmission signals 81 based on the respective frequencies or frequency bands. Subsequently, the filtered optical signals 81 can in turn be converted into the respective electrical output signals 45, 48, 52, 56 by means of an opto-electrical converter unit 93. Furthermore, here the signal provision device 82 can have an electronic distributor 94.With this electronic distributor 94 or "switch", the individual transmission paths 41 to 44 can be supplied with the respective associated signals by electronic switching.

[0154] In Fig. 15, a variant based on Fig. 14 is again shown. Here, the signal provision device 82 can again have an upstream optical filter unit 92. However, this optical filter unit 92 can be controlled by an electronic filter control unit 95, particularly an upstream one. Here, the distribution of the optical signals to the channels or to the transmission paths 41 to 44 can be carried out by means of an optical distributor, such as the optical distributor 94. Here, an optical switch, such as the optical distributor 94, can be programmatically controlled accordingly to make the appropriate signals available to the respective transmission paths 41 to 44. Here, the distribution can take place in the optical domain and in each transmission path 41 to 44, the opto - electrical converter units 84, 86, 88, 90 can again be provided.

[0155] In the following Fig. 16, starting from Figs. 14 and 15, a further embodiment is shown, which is at least a partial combination of these two embodiments. Here, again, the optical filter unit 92 can be controlled with the help of the filter control unit 95.

[0156] Subsequently, here again as in Fig. 14, the respective signals can be converted according to an electrical range with an opto - electrical converter unit 93. In contrast to the embodiments in Figs. 14 and 15, here again the optical distributor can be dispensed with, and instead, each transmission path 41 to 44 can have its own electronic filter unit 96 to 99 to filter the correspondingly filtered and converted signals so as to filter out or select the corresponding electrical transmission signal 45, 48, 52, 56 for each transmission path 41 to 44.

[0157] In Fig. 17, starting from Fig. 13, a further possible embodiment of the transmitting device 15 is shown. Here, in each respective transmission path 41 to 44, in addition to the respective optical filter units and optoelectronic conversion units, an additional electronic frequency conversion unit 100 to 103 can be arranged. Thus, each respective transmission path 41 to 44 can have a respective or its own electronic frequency conversion unit 100 to 103. Thus, the electrical transmission signal 45, 48, 52, 56 to be provided for the respective transmission units 46, 49, 53, 57 can be processed again.

[0158] Subsequently, a further possible schematic procedure is explained, how an improved ambient detection can be carried out with the aid of the proposed sensor system 2.

[0159] 1. Central unit provides control signals and optical signals

[0160] 2. Optical carrier signal is transmitted into the GHz frequency synthesizer unit

[0161] 3. GHz signals are modulated onto optical carrier signals and transmitted to the radar frontend (EPIC chips)

[0162] 4. Optionally, time multiplexing or frequency / wavelength multiplexing of the individual optical signals

[0163] 5. The signal relevant for channel n (n ∈ N) is selected by an optical filter and the EPIC frontend

[0164] 6. Detection of the optical carrier signal in the EPIC chip by a photodiode corresponds to frequency conversion into the lower GHz spectral range, e.g., 6, 9, or 77 GHz

[0165] 7. Forwarding of the GHz signal into a circuit. a. Amplification of the lower GHz spectral range and emission by an antenna b. Optionally, additional frequency conversion

[0166] 8. Forwarding of the electronic GHz signal to the antenna(s)

[0167] 9. Detection of the reflected radiation by antenna(s) and return of the received signal to the central station by modulation onto an optical carrier signal

[0168] 10. Detection of the optical radiation in the central station, ADC sampling and coherent processing

[0169] 11. Individual and / or joint coherent or incoherent processing of the data from both frequency bands.

[0170] 12. Forwarding of the data, e.g. to an environmental model Reference sign list

[0171] Vehicle

[0172] Sensor system

[0173] Antenna array

[0174] Antenna elements

[0175] Radar sensor device central electronic computing device optical device optical carrier signal

[0176] Optical fiber optical input optical output

[0177] Receiving unit

[0178] Output signal

[0179] Processing unit

[0180] Receiver device

[0181] Receiving device, electrical transmission signal

[0182] Surroundings, electrical reception signal

[0183] Feedback channel, optical reception signal, opto - electrical converter unit, electrical signal, digital interface

[0184] CPU, electrical feedback channel

[0185] Synthesis unit

[0186] Modulator, optical control unit, optical distributor

[0187] Control unit, a feedback loop, electrical transmission line, electrical control signal, virtual antenna array, 37 frequency range representations, frequency - shifted transmission signals, photodiode

[0188] Amplifier up to 44 transmission paths, first electrical output signal, first transmitting unit, first frequency conversion unit, second electrical output signal, second transmitting unit, second amplifier unit, second frequency conversion unit, third electrical output signal, third transmitting unit, third amplifier unit, further frequency conversion unit, further electrical output signal, further transmitting unit, further amplifier up to 61 electrical reception signals, up to 65 reception units, up to 69 amplifiers

[0189] Signal processing unit, electrical carrier signal, opto - electrical converter unit or photodiode, optical modulator, up to 77 reception paths

[0190] Frequency device, first frequency conversion unit, frequency multiplex, optical transmission signal

[0191] Signal provision device, first optical filter unit, optoelectronic converter unit, second optical filter unit, optoelectronic converter unit, third optical filter unit, electro-optical converter unit, further optical filter unit, further optoelectronic converter unit, amplifier, optical filter unit, optoelectronic converter unit, electronic distributor

[0192] Filter control unit up to 99, electronic filter unit up to 103, frequency conversion unit

Claims

Patent claims 1 . Sensor system (2) for environmental detection, with - an optical device (7) for generating an optical carrier signal (8), - a transmitting device (15) which has a plurality of transmitting units, wherein the transmitting device (15) is designed to transmit electrical transmission signals (45, 48, 52, 56) which are based on the optical carrier signal (8), characterized by - a first transmission path (41) of the transmission device (15), which is designed to provide a first electrical transmission signal (45), which is based on the optical carrier signal (8), to a first transmission unit (46) of the plurality of transmission units, which is arranged on the first transmission path (41), - at least one second transmission path (42) of the transmission device (15), which is different from the first transmission path (41), and which is designed to generate a second electrical transmission signal (48) based on the optical carrier signal (8) and to provide it to a second transmission unit (49) of the plurality of transmission units arranged on the second transmission path (42), wherein - the transmitting device (15) is designed to generate the second electrical transmission signal (48) such that the second electrical transmission signal (48) has a second frequency which is different from a first frequency of the first electrical transmission signal (45), and - the transmitting device (15) is designed to transmit the first electrical transmission signal (45) with the first transmitting unit (46) and the second electrical transmission signal (48) with the second transmitting unit (49) simultaneously in one transmission process.

2. Sensor system (2) according to claim 1, characterized by - at least one third transmission path (43) of the transmission device (15), which is different from the first and second transmission paths (41, 42), which is designed to generate a third electrical transmission signal (52) based on the optical carrier signal (8) and to provide it to a third transmission unit (53) of the plurality of transmission units, which is arranged on the third transmission path (43), wherein - the transmitting device (15) is designed to generate the third electrical transmission signal (52) such that the third electrical transmission signal (52) has a third frequency which is different from the first frequency of the first electrical transmission signal (45) and / or the second frequency of the second electrical transmission signal (48), and - the transmitting device (15) is designed to transmit the first electrical transmission signal (45) with the first transmitting unit (45), the second electrical transmission signal (48) with the second transmitting unit (49) and the third electrical transmission signal (52) with the third transmitting unit (53) at the same time.

3. Sensor system (2) according to claim 2, characterized in that - the transmitting device (15) has a frequency device (78), wherein the frequency device (78) has a first frequency conversion unit (47) and a frequency multiplexer (80), wherein the first frequency device (78) is designed to generate at least the second and third electrical transmission signals (52) on the basis of the optical carrier signal (8) and a predetermined frequency shift information.

4. Sensor system (2) according to claim 1 or 2, characterized in that - the second transmission path (42) has a second frequency conversion unit (51), wherein the second frequency conversion unit (51) is designed to generate the second electrical transmission signal (48) on the basis of the optical carrier signal (8) and a predetermined frequency shift information, in particular - the second transmission path (42) has a second amplifier unit (50) which is arranged between the second frequency conversion unit (51) and the second transmission unit (49), wherein the second amplifier unit (50) is designed to amplify the second electrical transmission signal (48) for transmission.

5. Sensor system (2 according to one of the preceding claims, characterized in that - the first transmission path (41) and at least the second transmission path (42) are arranged together on a common integrated circuit, or - the first transmission path (41) and at least the second transmission path (42) are each arranged on a separate integrated circuit.

6. Sensor system (2) according to one of the preceding claims, characterized by - a receiving device (16) which has a plurality of receiving units (62 to 65), wherein the receiving device (16) is designed to receive electrical reception signals (59 to 61) which are based on the transmitted electrical transmission signals (45, 48, 52, 56), and wherein - the receiving device (16) has a plurality of receiving paths (74 to 77), wherein each receiving pad (74 to 77) has a respective receiving unit of the plurality of receiving units (62 to 65).

7. Sensor system (2) according to claim 6, characterized in that the receiving device (16) has a signal processing unit (70) which is coupled to the receiving units (62 to 65), wherein the signal processing unit (70) is designed to mix an electrical received signal of the electrical received signals (59 to 61) with an electrical carrier signal (71) which can be generated by an optical-electrical conversion of the optical carrier signal (8).

8. Vehicle (1) with a sensor system (2) according to one of the preceding claims.

9. A method for operating a sensor system (2) according to claims 1 to 7, comprising: - generating the optical carrier signal (8), - transmission of the optical carrier signal (8) to the transmitting device (15), - Providing the first electrical transmission signal (45) to the first transmission unit (46), - generating the second electrical transmission signal (48) depending on a frequency shift specification, Providing the second electrical transmission signal (48) to the second transmission unit (49), - Simultaneous transmission of the first and second electrical transmission signals (45, 48) in the transmission process.

10. The method according to claim 9, wherein immediately after the transmission process, electrical reception signals (59 to 61) based on the transmitted electrical transmission signals (45, 48, 52, 56) are received, wherein on the basis of the simultaneously transmitted electrical transmission signals (45, 48, 52, 56) and the received electrical reception signals (59 to 61) a virtual antenna array (35) relating to the sensor system is generated, wherein signal processing for environmental detection can be carried out with the generated virtual antenna array (35).

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