DE102019200127A1 - Radar sensor architecture - Google Patents

Abstract

Body element comprising a sensor module (42) which is designed to generate and receive RF signals, and one or more waveguide antennas (43) which are coupled to the sensor module (42), the waveguide antennas (43) emitting elements (44 ) for radiating the RF signals.

Description

TECHNICAL AREA

The present disclosure relates to a radar antenna system, in particular a radar antenna system for autonomous or semi-autonomous vehicles and driver assistance systems.

TECHNICAL BACKGROUND

Radar technology ("Radio Detection and Ranging") relates to devices, methods and systems for locating and detecting objects based on electromagnetic waves in the radio frequency range. The radar sends an electromagnetic signal and receives echoes from objects. Using radar technology, a position can be determined, for example, by evaluating transit times and, taking frequency signal changes (Doppler effect) into account, a relative speed of an object can be determined.

Radar technology is used, for example, in autonomous or semi-autonomous vehicles. Autonomous vehicles use radar to get the position and speed of objects such as other road users or obstacles. Current concepts of radar technology provide for several sensors to be distributed around the vehicle, for example, to be integrated directly into the bumper. To do this, however, the various sensors have to be operated coherently, which is technically a challenge. At the same time, a high number of sensor modules also increases costs.

Proceeding from this, the object of the invention is to provide an optimized antenna system. This object is achieved by the antenna system according to claim 1. Further advantageous refinements of the invention result from the subclaims and the following description of preferred exemplary embodiments of the present invention.

According to the embodiments described below, a body member is provided that includes a sensor module configured to generate and receive RF signals, and one or more waveguide antennas that are coupled to the sensor module. The waveguide antennas have radiation elements for radiating the RF signals.

The body element according to the invention has the advantage that it comprises an antenna system. The antenna system can be, for example, a device for the detection and location of objects based on electromagnetic waves in the radio frequency range. The antenna module can comprise a plurality of transmission antennas and reception antennas for the millimeter wave range, for example, which are arranged as a waveguide antenna structure.

The body element can be, for example, a bumper or the like. The body element can be provided for one side of a vehicle (e.g. front or rear bumpers), but can also run around the vehicle. The latter has the advantage that the waveguide antennas installed in the body element can be guided around the vehicle with the body element.

A body element according to the invention can also be referred to as an “intelligent body element” since it is already designed such that the antenna structures are part of the body element. It is therefore no longer necessary to manufacture and install an additional antenna. The sensor module and the waveguide antennas are, for example, clipped conformally into the body element or integrated in the body element. In conformity it is to be understood here that the waveguide antenna is adapted to the shape of a surface (inside or outside) of the body element. The waveguide runs, for example, in a contact-locking or form-fitting manner along a surface of the body element, or is formed together with the body element as a composite part. The waveguide antennas can lead away from the sensor module to any locations on the body element, for example to one of the two sides of a bumper.

Distributed antennas are cheaper than multiple sensors on the vehicle. The compliant antenna (e.g. adapted to the shape of the bumper or vehicle) can be more flexibly adapted to the vehicle in the vehicle than sensors, each of which must be individually calibrated. The installation / vehicle structure for the original equipment manufacturer (OEM) is easier and therefore cheaper than installing and wiring several sensors.

The antenna system can, for example, take over the function of ultrasonic parking sensors if it is designed appropriately (close range). The disadvantages of ultrasonic parking sensor integration during production (punching, repainting) would be eliminated. In contrast to the ultrasonic sensors, the radar system would not be visible and would be fully integrated into the design concept.

The system is not limited to automotive. Possible fields of application would also be trucks, buses, ships and the like. Also, the present invention can be used for industrial applications such as forklifts, cranes, etc. or medical Applications such as autonomous or semi-autonomous food trolleys, trolleys with laundry, or the like are used.

The waveguide antennas can be waveguides, for example metal tubes without an inner conductor with a rectangular, circular or elliptical cross section. However, the waveguides do not necessarily have to be hollow, but can also be filled with a dielectric.

The sensor module can be, for example, a high-frequency wave radar sensor with the associated low-frequency control circuits (RF + LF circuit module). The sensor module can be, for example, a single-chip radar, in which several antennas are coupled to this chip, for example for the millimeter-wave range. Such integration is possible because the radar frequency range makes tiny antennas possible.

The sensor module can be positioned anywhere on the body element, for example in the middle of the body element, so that the sensor module is positioned centrally on the front of the vehicle, for example.

The waveguide antenna structure is preferably a 3D waveguide antenna structure. The waveguide antenna structure is designed, for example, to be electromagnetic
To transmit and transmit waves in the radio frequency range via one or more cavities and / or to receive echo signals of the transmitted electromagnetic waves and to transport them to the sensor module. For this purpose, the waveguide antenna structure comprises channels which serve as waveguides. As a result, the distribution of the field of the injected wave is largely preserved and the transition into free space is practically free of reflections.

For example, the waveguide antennas can be designed such that they use a traveling wave on a guide structure as the main beam mechanism, for example as traveling leaky wave antennas or the like. For example, a high frequency current that generates the high frequency waves flows in one direction through the antenna. An advantage of traveling leaky wave antennas is that they have a wide bandwidth.

For coupling the sensor module to the waveguide antennas, for example, opening channels of the waveguide antenna structure can be positioned on the feed points of the RF chip. The RF chip has, for example, pins to which at least a short line is connected, which leads to a radiating structure such as a patch, a small dielectric resonator, or the like. This structure can then radiate directly into the 3D antenna. However, a combination of antenna and patch is also conceivable, in which the radiating structure sits directly on or on the RF chip. A circuit board of the sensor module can also have one or more cutouts which serve for the structural connection of the waveguide antenna structure to the circuit board. The cutouts are designed, for example, to accommodate parts of the waveguide antenna structure. For example, the waveguide antenna structure could have a wall structure which engages in the cutouts. The recesses are designed, for example, to form a “groove” of a “tongue and groove” system, with a projection of the waveguide antenna structure that serves as a “tongue” being inserted into the groove. The connection between tongue and groove is, for example, form-fitting perpendicular to the circuit board.

The radiation elements of the waveguide antennas can be, for example, slots in the waveguides or the like. The radiation elements are preferably designed in such a way that different main beam directions arise at different frequencies. By sweeping the frequency, a defined angular range can be scanned. RF “sweep” or “frequency sweep” means changing the radiation frequency and is implemented with a sensor module with a tunable transmission frequency. If the frequency of the RF transmitter is changed to produce a desired frequency band (“sweep”), the RF transmitter emits corresponding frequencies which are transmitted from the waveguides to the radiating elements.

If the radiation elements of the waveguide antennas are designed in a manner known to the person skilled in the art in such a way that different main beam directions arise at different frequencies, then a time-varying radiation characteristic is brought about by the change in the RF frequency over time. If the antenna system has a plurality of antennas with differently designed radiation elements which are interconnected, the antenna system can also generate multidimensional radar data according to an azimuth and / or elevation angle on the basis of beamforming. The radiation elements act in such a way that a waveguide antenna has a predetermined radiation characteristic, similar to how an antenna array generates beamforming by superimposing the radio signals of several antennas.

In some embodiments, the antenna system further includes one or more RF amplifiers to amplify the signal from the sensor module. These RF amplifiers can be provided at amplifier support points in the body element.

In some embodiments, the waveguide antennas of the antenna system are divided into several groups with different radiation characteristics. This enables an angle measurement / determination of objects in specific planes. The waveguide antennas of the groups can, for example, define different elevation planes and / or different lateral angular ranges as measuring ranges. The areas can completely overlap, not overlap or partially overlap.

According to one embodiment, at least one of the waveguide antennas has radiation elements only in a partial region of the waveguide, preferably at a distance from the sensor module to an end region of the waveguide. Alternatively, the partial area with radiation elements can also be located after an amplifier support point, in which an RF amplifier is arranged and extends, for example, to the respective outer end of the waveguide.

According to one of the embodiments described in more detail below, a waveguide antenna has a plurality of sections which are at an angle to one another.

The exemplary embodiments also relate to a body which comprises at least two body elements with waveguide antennas, as was described above. The position and cross section of the waveguide antennas in the respective body elements are matched to one another, so that the waveguide antennas of the respective body elements interact as a combined waveguide antenna. If several body parts are provided with waveguides in such a way that the respective waveguides of the body parts couple to one another (after assembly on the vehicle, in which the body parts are connected to one another), waveguide antennas can be guided as far as desired, e.g. on the side of the vehicle to the rear. For example, a waveguide extends over several body parts or over several straightening surfaces (straightening surface = one side from the front, rear, left side, right side) of a vehicle. The waveguide of the body parts can be connected to each other via interfaces.

The concept of a body element with distributed antennas proposed here has the advantage that a smaller number of RF sensors is required and thus the costs are reduced. Since the antennas are compliant, i.e. Adapted to the shape of the body element, you can move it "around the corner" and thus significantly expand the field of view of the antenna. At the same time, this increases the aperture compared to a single sensor, which significantly improves the angular resolution.

• 1 ein Blockdiagramm zeigt, das schematisch die Konfiguration eines Fahrzeugs mit einer Steuerungseinheit für autonomes (oder teilautonomes) Fahren darstellt;
• 2 ein Blockdiagramm zeigt, das eine beispielhafte Konfiguration einer Steuerungseinheit (ECU 1, 2, 3, 4 und 5 in 1) darstellt;
• 3 ein Blockdiagramm zeigt, das eine beispielhafte Konfiguration einer Radareinheit darstellt;
• 4 eine erste Ausführungsform eines Antennensystems mit verteilten Antennen, die in ein Karosserieelement 41 integriert sind, zeigt;
• 5 eine zweite Ausführungsform eines Antennensystems mit verteilten Antennen, die in ein Karosserieelement 41 integriert sind, zeigt;
• 6 schematisch ein Beispiel einer Abstrahlcharakteristik für das Antennensystem der 5 zeigt;
• 7 eine dritte Ausführungsform eines Antennensystems mit verteilten Antennen, die in ein Karosserieelement 41 integriert sind, zeigt;
• 8 eine vierte Ausführungsform eines Antennensystems mit verteilten Antennen, die in ein Karosserieelement 41 integriert sind, zeigt;
• 9 schematisch ein weiteres Beispiel für eine mögliche Abstrahlcharakteristik für das Antennensystem der 8 zeigt;
• 10a ein erstes Ausführungsbeispiel dafür zeigt, wie ein Wellenleiterantenne mit rechteckigem Querschnitt konform zu einem Karosserieelement ausgeführt werden kann;
• 10b einen Befestigungsclip für eine Wellenleiterantenne mit rechteckigem Querschnitt zeigt;
• 11 a ein Ausführungsbeispiel dafür zeigt, wie ein Wellenleiterantenne mit rundem Querschnitt konform zu einem Karosserieelement ausgeführt werden kann.
• 11b einen Befestigungsclip für eine Wellenleiterantenne mit rundem Querschnitt zeigt;
• 12 ein Ausführungsbeispiel dafür zeigt, wie ein Wellenleiterantenne durch Integration als Metall-Kunststoffverbundteil konform zu einem Karosserieelement ausgeführt werden kann; und
• 13 ein Ausführungsbeispiel einer Karosserie eines Fahrzeugs zeigt, bei der mehrere Karosserieteile mit Wellenleitern derart versehen sind, dass die jeweiligen Wellenleiter der Karosserieteile aneinander koppeln, wenn die Karosserieteile miteinander verbunden sind.

Embodiments will now be described by way of example and with reference to the accompanying drawings, in which:

• 1 FIG. 2 shows a block diagram schematically illustrating the configuration of a vehicle with a control unit for autonomous (or semi-autonomous) driving;
• 2nd A block diagram showing an exemplary configuration of a control unit (ECU 1 , 2nd , 3rd , 4th and 5 in 1 ) represents;
• 3rd FIG. 12 is a block diagram illustrating an example configuration of a radar unit;
• 4th a first embodiment of an antenna system with distributed antennas in a body element 41 are integrated, shows;
• 5 a second embodiment of an antenna system with distributed antennas in a body element 41 are integrated, shows;
• 6 schematically an example of a radiation pattern for the antenna system of 5 shows;
• 7 a third embodiment of an antenna system with distributed antennas, which in a body element 41 are integrated, shows;
• 8th a fourth embodiment of an antenna system with distributed antennas in a body element 41 are integrated, shows;
• 9 schematically another example of a possible radiation characteristic for the antenna system of 8th shows;
• 10a a first exemplary embodiment shows how a waveguide antenna with a rectangular cross section can be designed to conform to a body element;
• 10b shows a mounting clip for a waveguide antenna with a rectangular cross-section;
• 11 a An exemplary embodiment shows how a waveguide antenna with a round cross section can be designed to conform to a body element.
• 11b shows a mounting clip for a waveguide antenna with a round cross-section;
• 12th an exemplary embodiment shows how a waveguide antenna can be designed to conform to a body element by integration as a metal-plastic composite part; and
• 13 shows an embodiment of a body of a vehicle, in which a plurality of body parts are provided with waveguides such that the respective waveguides of the body parts couple to one another when the body parts are connected to one another.

1 FIG. 12 is a block diagram schematically illustrating the configuration of a vehicle with a control unit for autonomous (or partially autonomous) driving according to an embodiment of the present invention. The autonomous vehicle is a vehicle that can operate on the road without the influence of a human driver. In autonomous driving, the control system of the vehicle takes on the role of the driver entirely or as far as possible. Autonomous (or semi-autonomous) vehicles can use various sensors to perceive their surroundings, determine their position and the other road users from the information obtained, and use the vehicle's control system and navigation software to control the destination and act accordingly in road traffic.

The autonomous vehicle 1 comprises several electronic components, which via a vehicle communication network 28 are interconnected. The vehicle communication network 28 For example, a standard vehicle communication network installed in the vehicle, such as a CAN bus (controller area network), a LIN bus (local interconnect network), an Ethernet-based LAN bus (local area network), a MOST bus, an LVDS -Bus or the like.

In the in 1 The example shown includes the autonomous vehicle 1 a control unit 12th (ECU 1 ) that controls a steering system. The steering system refers to the components that enable directional control of the vehicle. The autonomous vehicle 1 further comprises a control unit 14 (ECU 2nd ) that controls a braking system. The braking system refers to the components that allow the vehicle to brake. The autonomous vehicle 1 further comprises a control unit 16 (ECU 3rd ) that controls a drive train. The drivetrain relates to the drive components of the vehicle. The powertrain may include an engine, a transmission, a drive / propeller shaft, a differential, and an axle drive.

The autonomous vehicle 1 also includes a control unit for autonomous driving 18th (ECU 4th ). The control unit for autonomous driving 18th is designed to be the autonomous vehicle 1 to be controlled so that it can operate in whole or in part without the influence of a human driver in road traffic. The control unit for autonomous driving 18th controls one or more vehicle subsystems while the vehicle is operating in autonomous mode, namely the braking system 14 , the steering system 12th and the drive system 14 . The control unit for autonomous driving can do this 18th for example via the vehicle communication network 28 with the corresponding control units 12th , 14 and 16 communicate.

The control units 12th , 14 and 16 can also receive vehicle operating parameters from the above-mentioned vehicle subsystems, which can detect these using one or more vehicle sensors. Vehicle sensors are preferably sensors that detect a state of the vehicle or a state of vehicle parts, in particular their state of motion. The sensors may include a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, a steering wheel angle sensor, a vehicle load sensor, temperature sensors, pressure sensors and the like. For example, sensors can also be arranged along the brake line in order to output signals which indicate the brake fluid pressure at various points along the hydraulic brake line. Other sensors in the vicinity of the wheel can be provided which detect the wheel speed and the brake pressure which is applied to the wheel.

The vehicle sensors of the autonomous vehicle 1 also includes a satellite navigation unit 24th (GPS unit) and one or more optical sensors 20 that are designed to capture optical information. The optical sensors 20 can be arranged inside the vehicle or outside the vehicle. For example, a camera in a front area of the vehicle 1 be installed to take pictures of an area in front of the vehicle.

The autonomous vehicle 1 further comprises a radar unit 26 . At the radar unit 26 For example, it can be a continuous wave radar (CW radar) or a modulated continuous wave radar (FMCW radar). Radar data is from the radar unit 26 recorded and for example to a central control unit 22 (or alternatively to the control unit for autonomous driving, ECU 4th ) transfer.

The central control unit 22 is designed to get the radar data from the radar unit 26 to receive and process the radar data. The radar data include information such as the time shift between transmit and receive radar beams and Doppler frequency. Based on the time difference, a distance between the autonomous vehicle 1 and one Object determined and a relative movement is determined by the Doppler frequency. The central control unit 22 can evaluate the information received or, for example, to the control unit for autonomous driving 18th transmitted further.

If an operating state for autonomous driving is activated on the controller or driver side, the control unit determines for autonomous driving 18th , on the basis of data available over a predefined route, on the basis of that from the radar unit 26 received data, based on optical sensors 20 recorded environmental data, and on the basis of vehicle operating parameters recorded by the vehicle sensors, the control unit 18th from the control units 12th , 14 and 16 are fed, parameters for the autonomous operation of the vehicle (for example target speed, target torque, distance to the vehicle in front, distance to the edge of the road, steering process and the like).

2nd shows a schematic block diagram of an exemplary radar architecture known from the prior art. A radar unit 26 has an RF chip 301 on. With the RF chip 301 For example, it can be a single-chip radar, in which several antennas for the millimeter-wave range (here, n transmit antennas TX and m receive antennas RX) are integrated in one chip. Such integration is possible because the radar frequency range makes tiny antennas possible. The size of other necessary components, such as inductors, is reduced so that the RF chip 301 can be manufactured in a mass production semiconductor process as used for microprocessors. The RF chip 301 generates the radar signals and receives the reflected signals. The RF chip 301 also carries out an A / D conversion of the generated data and sends it to an interface as an A / D-converted baseband signal 302 further that acts as an interface to a vehicle communication network 28 serves, for example, a serializer / de-serializer. The radar unit 26 is over this vehicle communication network 28 with a processor unit 303 ("CPU" = Central Processing Unit) connected. At the processor unit 303 it can be, for example, the central control unit 22 ("Vehicle controller") 1 to the control unit 18th for autonomous driving 1 , or act as a central radar processing unit which is provided for the further processing of the radar data. In this example, the vehicle communication network is concerned 28 a serial connection with a high data rate, for example a data connection in accordance with the LVDS (“Low Voltage Differential Signaling”) interface standard or an Ethernet data network. The high data rate of the vehicle communication network 28 enables a direct transmission of the A / D-converted baseband signal to the processor unit 303 .

3rd shows a schematic block diagram of another exemplary radar architecture known from the prior art. As in the example of the 2nd has a radar unit 26 an RF chip 301 with several antennas for example for the millimeter wave range (here n transmit antennas TX and m receive antennas RX), which are integrated in one chip. The RF chip 301 generates the radar signals and receives the reflected signals. The RF chip 301 also performs A / D conversion of the generated data and outputs it as an A / D converted baseband signal to a radar microprocessor 304 further. The radar microprocessor 304 pre-processes the radar data. For example, the radar microprocessor generates 304 a target object list ("untracked") or an object list ("tracked") from the radar data and sends it to the interface 302 to the vehicle communication network 28 further. The radar unit 26 is over this vehicle communication network 28 with a processor unit 303 ("CPU" = Central Processing Unit) connected. At the processor unit 303 it can be, for example, the central control unit 22 ("Vehicle controller") 1 to the control unit 18th for autonomous driving 1 , or act as a central radar processing unit which is provided for the further processing of the radar data. In this example, the vehicle communication network is concerned 28 a serial connection with a lower data rate, eg a data connection according to the interface standard CAN-FD ("Low Voltage Differential Signaling"). Since not all of the A / D-converted baseband signal is transmitted, a lower data rate is sufficient for the transmission to the processor unit 303 out.

4th shows a first embodiment of an antenna system with distributed antennas, which in a body element 41 are misplaced. The body element 41 is designed here, for example, as a bumper. The antenna system comprises a sensor module 42 that in the middle of the body element 41 is positioned and two waveguide antennas 43-1 and 43-2 feeds. For example, electromagnetic energy is coupled in or out by a rod antenna mounted at a certain distance from the feed point. The waveguide antennas are designed, for example, as traveling leaky wave antennas. The waveguide antennas 43-1 and 43-2 have radiation elements 44 , for example slots. The sensor module 42 conforms to the body element, for example 41 clipped in or in the body element 41 integrated (cf. 11a) . The sensor module 42 is therefore centrally at the front here Vehicle positioned. The waveguide antennas 43-1 and 43-2 lead from the sensor module 42 away to the respective sides of the body element. In the embodiment shown here, the waveguide antennas end 43-1 and 43-2 on the outer sides of the body element 41 . However, they could be routed as far as you want (e.g. to the side of the vehicle to the rear).

These radiation elements 44 the waveguide antennas 43-1 and 43-2 can be designed so that different main beam directions arise at different frequencies. By “sweeping” the RF frequency, a defined angular range can be scanned.

5 shows a second embodiment of an antenna system with distributed antennas, which in a body element 41 are trained. The body element 41 is executed here again as a bumper. As in the first exemplary embodiment, the antenna system comprises a sensor module 42 that in the middle of the body element 41 is positioned. The sensor module 42 feeds six waveguide antennas 43-1 to 43-6 , namely two upper waveguide antennas 43-1 and 43-2 , two middle waveguide antennas 43-3 and 43-4 and two lower waveguide antennas 43-5 and 43-6 . The waveguide antennas 43-1 to 43-6 lead from the sensor module 42 away to the respective sides of the body element. The antenna system of this embodiment further includes two RF amplifiers 45-1 , 45-2 that at amplifier support points in the waveguide antennas 43-3 and 43-4 are arranged and which amplify the signal. For example, an RF amplifier in the waveguide could be 50 cm after the sensor module 42 be positioned.

The division of the waveguide into several groups with specific radiation characteristics, as in the embodiments of the 5 and 6 shown, enables an angle measurement / determination of objects in specific planes. This can be achieved, for example, by using the radiation elements 44 can be designed in a manner known to the person skilled in the art for radiation in a specific spatial direction or in a radiation in a specific angular range. 6 shows schematically as an example a possible radiation characteristic for the antenna system of 5 . The waveguide antennas 43-1 and 43-2 are designed as a first group with specific radiation characteristics, the upper elevation level 46-1 covers. The sections 43-3c or. 43-4c the middle waveguide antennas 43-3 and 43-4 are designed as a second group with specific radiation characteristics, the middle elevation level 46-2 covers. The sections 43-5c and 43-6c the lower waveguide antennas 43-5 and 43-6 are designed as a third group with specific radiation characteristics, the lower elevation level 46-3 covers. Each group of waveguide antennas is thus arranged on a respective height level in the body element. Although in 6 not shown, the elevation levels can also overlap in alternative versions.

7 shows a third embodiment of an antenna system with distributed antennas in a body element 41 are trained. The body element 41 is executed here again as a bumper. As in the second exemplary embodiment, the antenna system comprises a sensor module 42 that in the middle of the body element 41 is positioned and six waveguide antennas 43-1 to 43-6 feeds, namely two upper waveguide antennas 43-1 and 43-2 , two middle waveguide antennas 43-3 and 43-4 and two lower waveguide antennas 43-5 and 43-6 . The waveguide antennas 43-1 to 43-6 lead from the sensor module 42 away to the respective sides of the body element. In the embodiment shown here, the lower waveguide antennas end 43-5 and 43-6 at the end areas of the flat body element 41 . The middle waveguide antennas 43-3 and 43-4 are designed to be shorter than the waveguide antennas 43-5 and 43-6 . The top waveguide antennas 43-1 and 43-2 are again designed to be shorter than the middle waveguide antennas 43-5 and 43-6 . The waveguide antennas therefore have different lengths. The antenna system of this embodiment further includes two RF amplifiers 45-1 and 45-2 that are at amplifier support points in the middle waveguide antennas 43-3 and 43-4 are arranged and which amplify the signal, as well as two RF amplifiers 45-3 and 45-4 that are at amplifier support points in the lower waveguide antennas 43-3 and 43-4 are arranged. The top waveguide antennas 43-1 and 43-2 have radiation elements 44 , for example slots, which are arranged over the entire length of the waveguide. The middle waveguide antennas 43-3 and 43-4 have radiating elements 44 only in a sub-area of the waveguide that extends from the respective amplifier support point 45-1 , 45-2 extends to the respective outer end of the waveguide. The lower waveguide antennas 43-5 and 43-6 equally have radiation elements 44 only in a sub-area of the waveguide that extends from the respective amplifier support point 45-3 , 45-4 extends to the respective outer end of the waveguide. By providing the slots only in partial areas of the waveguides, the conduction property of the waveguides can be optimized and the radiation characteristic of the antenna system can be configured. For example, in the present embodiment, the signal is as lossless as possible up to the amplifier support points 45-1 to 45-4 guided and reinforced there before it went over the slots 44 is emitted.

8th shows a fourth embodiment of an antenna system with distributed antennas, which in a body element 41 are trained. The body element 41 is executed here again as a bumper. As in the third exemplary embodiment, the antenna system comprises a sensor module 42 that in the middle of the body element 41 is positioned and six waveguide antennas 43-1 to 43-6 feeds, namely two upper waveguide antennas 43-1 and 43-2 , two middle waveguide antennas 43-3 and 43-4 and two lower waveguide antennas 43-5 and 43-6 . The waveguide antennas 43-1 to 43-6 lead from the sensor module 42 left and right of the vehicle. In the embodiment shown here, the lower waveguide antennas end 43-5 and 43-6 at the end areas of the flat body element 41 . The middle waveguide antennas 43-3 and 43-4 are designed to be shorter than the waveguide antennas 43-5 and 43-6 . The top waveguide antennas 43-1 and 43-2 are again designed to be shorter than the middle waveguide antennas 43-5 and 43-6 . Accordingly, as in the third embodiment, the waveguide antennas have different lengths. The lower waveguide antenna 43-5 has three sections 43-5a , 43-5b and 43-5c on, which are arranged at an angle to each other. The first section 43-5a runs horizontally to an amplifier support point 45-3 outward. The second section 43-5b closes at an angle to the first section 43-5a and leads the waveguide antenna further outwards and upwards. The third section 43-5c closes at an angle to the second section 43-5b and runs at the same height as the upper waveguide antenna 43-1 horizontally to the outside of the body element 41 . The lower waveguide antenna 43-6 also has three sections 43-6a , 43-6b and 43-6c on, which are arranged at an angle to each other. The first section 43-6a runs horizontally to an amplifier support point 45-4 outward. The second section 43-6b closes at an angle to the first section 43-6a and leads the waveguide antenna further outwards and upwards. The third section 43-6c closes at an angle to the second section 43-6b and runs at the same height as the upper waveguide antenna 43-2 horizontally to the outside of the body element 41 . The middle waveguide antenna 43-3 also has three sections 43-3a , 43-3b and 43-3c on, which are arranged at an angle to each other. The first section 43-3a runs horizontally to an amplifier support point 45-1 outward. The second section 43-3b closes at an angle to the first section 43-3a and leads the waveguide antenna further outwards and upwards. The third section 43-3c closes at an angle to the second section 43-3b and runs at the same height as the upper waveguide antenna 43-1 horizontally to the outside of the body element 41 . The middle waveguide antenna 43-4 also has three sections 43-4a , 43-4b and 43-4c on, which are arranged at an angle to each other. The first section 43-4a runs horizontally to an amplifier support point 45-2 outward. The second section 43-4b closes at an angle to the first section 43-4a and leads the waveguide antenna further outwards and upwards. The third section 43-4c closes at an angle to the second section 43-4b and runs at the same height as the upper waveguide antenna 43-2 horizontally to the outside of the body element 41 . At the amplifier support points of the lower waveguide antennas 43-5 and 43-6 are two RF amplifiers 45-3 and 45-4 arranged that amplify the signal. At the amplifier support points of the middle waveguide antennas 43-3 and 43-4 are also two RF amplifiers 45-1 and 45-2 arranged that amplify the signal. The top waveguide antennas 43-1 and 43-2 have radiation elements 44 , for example slots, which are arranged over the entire length of the waveguide. The middle waveguide antennas 43-3 and 43-4 have radiating elements 44 only in the outer sections 43-3c and 43-4c on. The lower waveguide antennas 43-5 and 43-6 have radiation elements 44 also only in the outer sections 43-5c and 43-6c on. By providing the slots only in the sections 43-3c and 43-4c or. 43-5c and 43-6c the waveguide antennas, the line properties of the waveguides can be optimized and the radiation characteristics of the antenna system can be configured. For example, in the present embodiment, the signal is as lossless as possible up to the amplifier support points 45-1 to 45-4 guided and reinforced there before it went over the slots 44 of the sections 43-3c and 43-4c or. 43-5c and 43-6c is emitted.

The division of the waveguide into several sections or sections, as in the embodiments of the 7 and 8th shown, in turn enables an angle measurement / determination of objects in specific planes. For example, the top waveguide antennas 43-1 and 43-2 of the antenna system of the 8th be formed as a first group with specific radiation characteristics, which covers an upper elevation level. The sections 43-3c or. 43-4c the middle waveguide antennas 43-3 and 43-4 could be formed as a second group with specific radiation characteristics, which covers a middle elevation plane. The sections 43-5c and 43-6c the lower waveguide antennas 43-5 and 43-6 can, on the other hand, be formed as a third group with specific radiation characteristics, which covers a lower elevation level, similar to that in FIG 6 regarding the antenna system of the 5 is shown.

9 shows schematically another example of a possible radiation characteristic for the antenna system of FIG 8th . The waveguide antennas 43-1 and 43-2 cover a first lateral angular range 47-1 or a second lateral angular range 47-2 from. The sections 43-3c and 43-4c the waveguide antennas 43-3 and 43-2 cover a third lateral angular range 47-3 or a fourth lateral angular range 47-4 from. The sections 43-5c and 43-6c the waveguide antennas 43-5 and 43-6 cover a fifth lateral angular range 47-5 or a sixth lateral angular range 47-6 from. This enables an angle measurement / determination of objects in the lateral direction. Each group of waveguide antennas thus has a respective lateral position in the body element. Although in 9 not shown, the angular ranges of the waveguide antennas could also overlap in alternative designs.

10a shows a first embodiment of how a waveguide antenna can be designed to conform to a body element. In this embodiment, are on an inner wall of a body element 41 one or more clips 48 attached, in which a waveguide antenna 43-1 is clipped on. The clips 48 hold the waveguide antenna 43-1 in an intended position. In the embodiment of the 10a has the waveguide antenna 43-1 a rectangular cross-section, so that the clips 48 have a corresponding rectangular receptacle, as shown in 10b is shown in more detail. The use of clips has the advantage that the waveguides can be attached to the body element quickly and conveniently.

11a shows a second embodiment of how a waveguide antenna can be designed to conform to a body element. As in the embodiment of the 10a are in this embodiment on an inner wall of a body element 41 one or more clips 48 attached, in which a waveguide antenna 43-1 is clipped on. The clips 48 hold the waveguide antenna 43-1 in an intended position. In the embodiment of the 11a has the waveguide antenna 43-1 a round cross-section, so that the clips 48 have a corresponding round receptacle, as shown in 11b is shown in more detail.

12th shows a further embodiment of how a waveguide antenna can be designed to conform to a body element. The body element 41 is a solid plastic part here. Waveguide antenna 43-1 and 43-2 are both designed as waveguides, ie metal tubes without an inner conductor. Waveguide antenna 43-1 has a rectangular cross section and waveguide antenna 43-2 has a round cross-section. The two waveguide antennas 43-1 and 43-2 are in the massive body element 41 integrated. In particular, the waveguide antennas 43-1 and 43-2 and the body element 41 , which is designed as a solid plastic part, designed as a metal-plastic composite part. The waveguide is located inside the body element and is not visible from the outside. For example, a metallic waveguide can be encapsulated with plastic in a manufacturing process, or the composite part can be produced in a deep-drawing injection molding process.

13 shows an embodiment of a body of a vehicle, in which a plurality of body parts are provided with waveguides such that the respective waveguides of the body parts couple to one another when the body parts are connected to one another. In 13 are three interconnected body parts 41-1 , 41-2 and 41-3 shown in a top view, namely a front bumper 41 -1 , a left fender 41-2 and a right fender 41-3 . The front bumper 41-1 has a radar sensor module 42 on, which is arranged in the center, and two conformal, designed as a waveguide waveguide antennas 43-1 and 43-2 by the sensor module 42 away to the respective sides of the bumper 41-1 to run. The left fender 41-2 has a conformal waveguide antenna designed as a waveguide 43-3 on and the right fender 41-3 has a conformal waveguide antenna which is also designed as a waveguide 43-4 on. The waveguide antennas 43-1 and 43-3 are in the respective body parts 41-1 and 41-2 trained (eg integrated as a metal-plastic composite part, as in 11a shown or clipped in as in 10a shown). The positions of the waveguides of the waveguide antennas 43-1 and 43-3 in the respective body parts 41-1 and 41-2 are matched to one another and the waveguides have the same cross section, so that the waveguides couple to one another in the connected state and act as a combined, continuous waveguide antenna. The same applies to the waveguide of the waveguide antennas 43-2 and 43-4 in the respective body parts 41-1 and 41-3 . In this way, the waveguide antennas can be guided as far as desired, for example to the side of the vehicle, as shown in 13 is shown.

Reference list

1

Autonomous vehicle

12th

Control unit for steering system

14

Control unit for brake system

16

Control unit for drive train

18th

Control unit for autonomous driving

20

optical sensors

22

Central control unit

24th

Satellite navigation unit

26

Radar unit

28

Vehicle communication network

41

Body element

42

Sensor module

43-1.43-2

Waveguide antennas

43-3.43-4

Waveguide antennas

43-5, 43-6

Waveguide antennas

43-3a, b, c

first, second and third section of the waveguide antenna 43-3

43-4a, b, c

first, second and third section of the waveguide antenna 43-4

43-5a, b, c

first, second and third section of the waveguide antenna 43-5

43-6a, b, c

first, second and third section of the waveguide antenna 43-6

44

Radiating element (slot)

45-1, 45-2

RF amplifier

45-1, 45-2

RF amplifier

46-1

upper elevation level

46-2

middle elevation level

46-3

lower elevation level

47-1, 47-2

lateral angular range of the waveguide antennas 43-1 and 43-2

47-3, 47-4

lateral angular range of the waveguide antennas 43-3 and 43-4

47-5, 47-6

lateral angular range of the waveguide antennas 43-5 and 43-6

48

Mounting clip

Claims (13)

Body element comprising a sensor module (42) which is designed to generate and receive RF signals, and one or more waveguide antennas (43) which are coupled to the sensor module (42), the waveguide antennas (43) emitting elements (44 ) for radiating the RF signals. Body element after Claim 1 , wherein the sensor module (42) and the waveguide antennas (43) are clipped conformally into the body element or are integrated in the body element. Body element according to one of the preceding claims, in which the radiation elements (44) are designed in such a way that different main beam directions arise at different frequencies. Body element according to one of the preceding claims, further comprising one or more RF amplifiers (45-1, 45-2) to amplify the signal of the sensor module (42). Body element according to one of the preceding claims, in which the waveguide antennas (43) are divided into several groups with different radiation characteristics. Body element after Claim 5 , in which the waveguide antennas (43) of the groups have different elevation levels (46-1, 46-2, 46-3) and / or different lateral angular ranges (47-1, 47-2, 47-3, 47-4, 47- 5, 47-6) as measuring ranges. Body element after Claim 6 , in which each group of waveguide antennas (43) is arranged at a respective height level in the body element. Body element after Claim 6 , in which each group of waveguide antennas (43) has a respective lateral position in the body element. Body element after Claim 6 , 7 or 8th , in which the elevation planes (46-1, 46-2, 46-3) or angular ranges (47-1, 47-2, 47-3, 47-4, 47-5, 47-6) completely overlap, do not overlap or partially overlap. Body element according to one of the preceding claims, in which a waveguide antenna (43-3, 43-4) has radiation elements (44) only in a partial region of the waveguide. Body element after Claim 10 , in which the partial area extends from an amplifier support point (45-1, 45-2), in which an RF amplifier (45-1, 45-2) is arranged, to the respective end of the waveguide. Body element according to one of the preceding claims, in which a waveguide antenna (43-3, 43-4) has a plurality of angled sections. Vehicle with a body, comprising at least two body elements (41-1, 41-2, 41- 3) according to one of the preceding claims, wherein the position and cross section of the waveguide antennas (43-1, 43-2, 43-3, 43-4) in the respective body elements (41-1, 41-2, 41-3) are adapted to one another so that the waveguide antennas (43-1, 43-2, 43-3, 43-4) of the respective body elements (41-1, 41-2, 41-3) interact as a combined waveguide antenna.

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