Power efficient iterative sensor fusion

Methods, systems, and devices for wireless communications are described. A user equipment (UE) may select, based at least in part on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The UE may perform, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data comprising sensing data measured by the UE during the sensing operations. The UE may transmit a first sensing report indicating the first sensing data. The UE may receive, based at least in part on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data comprising a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

FIELD OF TECHNOLOGY

The following relates to wireless communications, including power efficient iterative sensor fusion.

BACKGROUND

SUMMARY

The described techniques relate to improved methods, systems, devices, and apparatuses that support power efficient iterative sensor fusion. Generally, the described techniques provide various techniques to improve sensor operations performed by user equipment (UE), such as vehicle-based UE (v-UE). For example, in one approach the UE may initially select which sensor(s) to use (e.g., rather than always using all available sensors) for the sensing operations. The UE may initially select which sensor(s) to use randomly, based on its own identifier, etc. The UE may perform sensing operations using its selected sensor(s) and report its intrinsic sensing data (e.g., first sensing data) to the base station, which responds with the extrinsic sensing data (e.g., second sensing data). The extrinsic sensing data may correspond to a unified sensing report from the base station that is based on sensing reports received from multiple UE(s). The UE may update which sensor(s) to use for subsequent sensing operations based on its own intrinsic sensing data and the extrinsic sensing data. This may improve sensing operations by the UE by conserving power, minimizing unnecessary sensing, etc.

In another approach, the UE may receive the extrinsic sensing data (e.g., a sensing report) from the base station and select which sensor(s) to use based on the extrinsic sensing data (e.g., may not initially have its own intrinsic sensing data to use for sensor(s) selection). For example, the UE may receive the extrinsic sensing data from the base station in a sensing report and select a subset of its available sensor(s) to use for subsequent sensing operations based on the extrinsic sensing data. For example, the UE may determine the accuracy, completeness, reliability, etc., of the environmental details based on the extrinsic sensing data and then select the subset of sensors in response. For example, highly reliable extrinsic sensing data may indicate that additional sensors are unnecessary, whereas less reliable extrinsic sensing data may indicate that additional sensors are appropriate. Accordingly, the UE may update which sensors are used for sensing operations based on intrinsic and/or extrinsic sensing data.

A method for wireless communication at a UE is described. The method may include selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations, transmitting a first sensing report indicating the first sensing data, and receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

An apparatus for wireless communication at a UE is described. The apparatus may include a processor, memory coupled with the processor, and instructions stored in the memory. The instructions may be executable by the processor to cause the apparatus to select, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, perform, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations, transmit a first sensing report indicating the first sensing data, and receive, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Another apparatus for wireless communication at a UE is described. The apparatus may include means for selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, means for performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations, means for transmitting a first sensing report indicating the first sensing data, and means for receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

A non-transitory computer-readable medium storing code for wireless communication at a UE is described. The code may include instructions executable by a processor to select, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, perform, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations, transmit a first sensing report indicating the first sensing data, and receive, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors of the UE.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for selecting, according to the sensor selection criteria, the first subset of sensors based on an identifier associated with the UE.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors based on a power usage metric associated with the first subset of sensors.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for performing, based on the second sensing report, additional sensing operations to obtain updated first sensing data and transmitting a third sensing report indicating the updated first sensing data.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for determining, based on the second sensing report, that a correlation between the unified sensing report and the first sensing data fails to satisfy a sensing accuracy threshold and selecting, based on the correlation failing to satisfy the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors including more sensors than the first subset of sensors.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for determining, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold that may be a lower threshold than the sensing accuracy threshold, where selecting the second subset of sensors including more sensors may be based on the correlation satisfying the low-end sensing accuracy threshold.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for determining, based on the second sensing report, that a correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold and selecting, based on the correlation satisfying the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors including less sensors than the first subset of sensors.

A method for wireless communications at a UE is described. The method may include receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE, selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, and performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

An apparatus for wireless communications at a UE is described. The apparatus may include a processor, memory coupled with the processor, and instructions stored in the memory. The instructions may be executable by the processor to cause the apparatus to receive a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE, select, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, and perform, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

Another apparatus for wireless communications at a UE is described. The apparatus may include means for receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE, means for selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, and means for performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

A non-transitory computer-readable medium storing code for wireless communications at a UE is described. The code may include instructions executable by a processor to receive a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE, select, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type, and perform, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for determining, based on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold and selecting the first subset of sensors from the set of available sensors of the UE based on the confidence metric satisfying the confidence threshold.

Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for determining, based on the sensing report, that a confidence metric of the sensing data fails to satisfy a confidence threshold and selecting the first subset of sensors from the set of available sensors of the UE based on the confidence metric failing to satisfy the confidence threshold. Some examples of the method, apparatuses, and non-transitory computer-readable medium described herein may further include operations, features, means, or instructions for transmitting an indication of the UE-measured sensing data.

DETAILED DESCRIPTION

User equipment (UE), such as a vehicle based UE (v-UE), may be used for sensing operations using various sensors. For example, the UE may be configured with light detection and ranging (LIDAR) sensors, mono-camera sensors, stereo-camera sensors, ranging sensors, etc., and may use the sensors for measuring its environment (e.g., to identify and/or quantity structures, pedestrians, other vehicles, etc.) located in the area proximate to the UE. The UE may obtain its own sensing data (e.g., intrinsic sensing data) that it transmits to a base station (e.g., such as a roadside unit (RSU)). The base station collects intrinsic sensing data from multiple UEs and formulates extrinsic sensing data (e.g., a comprehensive or unified determination of the environment combining the intrinsic sensing data from multiple UE). The base station may send the extrinsic data to the UE to use for environmental awareness. However, there are currently no mechanisms to detail how the UE use their intrinsic and/or extrinsic sensing data generally, and more specifically in order to improve sensing operation efficiency. For example, in some wireless communication systems a v-UE simply defaults to using all available sensors at all times. However, this approach may be costly in terms of power usage, congestion within the sensed area (e.g., multiple v-UEs performing LIDAR sensing within a small area, resulting in collisions), and the like. Accordingly, aspects of the described techniques provide more efficient and considered approaches to how v-UEs select/update which sensor(s) to use.

Aspects of the disclosure are initially described in the context of wireless communication systems. Generally, the described techniques provide various techniques to improve sensor operations performed by user equipment (UE), such as vehicle-based UE (v-UE). For example, in one approach the UE may initially select which sensor(s) to use (e.g., rather than always using all available sensors) for the sensing operations. The UE may initially select which sensor(s) to use randomly, based on its own identifier, etc. The UE may perform sensing operations using its selected sensor(s) and report its intrinsic sensing data (e.g., first sensing data) to the base station, which responds with the extrinsic sensing data (e.g., second sensing data). The extrinsic sensing data may correspond to a unified sensing report from the base station that is based on sensing reports received from multiple UE(s). The UE may update which sensor(s) to use for subsequent sensing operations based on its own intrinsic sensing data and the extrinsic sensing data. This may improve sensing operations by the UE by conserving power, minimizing unnecessary sensing, etc.

In another approach, the UE may receive the extrinsic sensing data (e.g., a sensing report) from the base station and select which sensor(s) to use based on the extrinsic sensing data (e.g., may not initially have its own intrinsic sensing data to use for sensor(s) selection). For example, the UE may receive the extrinsic sensing data from the base station in a sensing report and select a subset of its available sensor(s) to use for subsequent sensing operations based on the extrinsic sensing data. For example, the UE may determine the accuracy, completeness, reliability, etc., of the environmental details based on the extrinsic sensing data and then select the subset of sensors in response. For example, highly reliable extrinsic sensing data may indicate that additional sensors are unnecessary, whereas less reliable extrinsic sensing data may indicate that additional sensors are appropriate. Accordingly, the UE may update which sensors are used for sensing operations based on intrinsic and/or extrinsic sensing data.

Aspects of the disclosure are further illustrated by and described with reference to apparatus diagrams, system diagrams, and flowcharts that relate to power efficient iterative sensor fusion.

FIG. 1illustrates an example of a wireless communication system100that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. The wireless communication system100may include one or more base stations105, one or more UEs115, and a core network130. In some examples, the wireless communication system100may be a Long Term Evolution (LTE) network, an LTE-Advanced (LTE-A) network, an LTE-A Pro network, or a New Radio (NR) network. In some examples, the wireless communication system100may support enhanced broadband communications, ultra-reliable (e.g., mission critical) communications, low latency communications, communications with low-cost and low-complexity devices, or any combination thereof.

A subframe, a slot, a mini-slot, or a symbol may be the smallest scheduling unit (e.g., in the time domain) of the wireless communication system100and may be referred to as a transmission time interval (TTI). In some examples, the TTI duration (e.g., the number of symbol periods in a TTI) may be variable. Additionally, or alternatively, the smallest scheduling unit of the wireless communication system100may be dynamically selected (e.g., in bursts of shortened TTIs (sTTIs)).

A UE115(e.g., a v-UE) may select, based at least in part on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE115, each sensor in the set of available sensors associated with a sensor type. The UE115may perform, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data comprising sensing data measured by the UE115during the sensing operations. The UE115may transmit a first sensing report indicating the first sensing data. The UE115may receive, based at least in part on the first sensing report, a second sensing report indicating second sensing data, the second sensing data comprising a unified sensing report based on the first sensing report from the UE115and one or more additional sensing reports from other UEs.

A UE115(e.g., a v-UE) may receive a sensing report indicating a sensing data, the sensing data comprising a unified sensing report based on one or more sensing reports associated with other UE. The UE115may select, based at least in part on the sensing report, a first subset of sensors from a set of available sensors of the UE115, each sensor in the set of available sensors associated with a sensor type. The UE115may perform, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

FIG. 2illustrates an example of a wireless communication system200that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. Wireless communication system200may implement aspects of wireless communication system100. Wireless communication system200may include, UE205, UE210, UE215, and RSU220, which may be examples of the corresponding devices described herein. For example, UE205, UE210, and/or UE215may be examples of v-UEs or VUEs, as described herein. RSU220may be an example of aspects of a base station, as described herein. For example, RSU220may be implemented in a base station, as a functional component in communication with a base station, etc. In another example, RSU220may be a separate component/function in communication with a base station and monitoring, controlling, or otherwise managing aspects of VUE based communications, sensing operations, and the like.

Generally, it is not possible/practical for a vehicle (e.g., a v-UE, such as UE205, UE210, and/or UE215) to be able to sense all/every object(s) around it in order to clearly understand the situational awareness. For example, occluding objects (e.g., buildings, trees, other VUE(s), etc.) may obscure the view of UE205, thereby blocking from view the pedestrian crossing at the intersection in front of UE210. This may occur even in the situation where vehicle (e.g., UE205) were to use all of its available sensors (e.g., light detection and ranging (LIDAR), radio detection and ranging (RADAR), camera sensors, etc.). This may pose, in some situations, a danger to the pedestrian crossing the intersection, to other pedestrian(s), to other VUE(s), etc.

In order to address the inability of vehicles (e.g., UE205, UE210, and/or UE215) to obtain an accurate sense of its surroundings, the sharing of sensor information may be generally used, wherein the vehicles exchange information associated with their sensed objects, thereby being able to obtain a more global view of the situational awareness. However, the sensing of objects by the vehicle(s) is prone to errors. Example errors include, but are not limited to, location errors of the objects being sensed due to inherent sensor errors, data association errors (e.g., identifying pedestrians close to each other, wherein the bounding boxes of pedestrians completely overlap with each other), and the like. In order that the global view is obtained by all vehicles in the system, it is natural that sensing is performed not only independently by an vehicle, but also cooperatively by such vehicles sharing their sensing data.

As one non-limiting example, sensed object one (OBJ-1). OBJ-2etc., (e.g., pedestrians, other vehicles, buildings, etc.) may generally represent objects that nodes1,2,3(e.g., VUE1, VUE2, VUE3, etc.) are trying to detect. In one example, OBJ-1may be preconfigured to be detected at a first location, OBJ-2at a second location etc. Node1, node2, node3(e.g., VUEs) may provide intrinsic information (e.g., first sensing data, which may also be considered UE-measured sensing data) of a sensed object (e.g., at a specific geographic location) to another node, such as Node0(e.g., RSU220). The intrinsic information transmitted by node1denotes its own perception of the sensed object, e.g., the sensing data obtained by node1(e.g., UE205) using its own sensor(s). Node0(e.g., RSU220) generally gathers the intrinsic information sent by nodes1,2, and/or3, and transmits extrinsic information (e.g., second sensing data transmitted in a unified sensing report) to each of nodes1,2, and/or3. Extrinsic information refers to the information not possessed originally by each of nodes1,2, and/or3. That is, the extrinsic information provided via the sensing report may define a unified sensing report based on the sensing reports provided by nodes1,2, and/or3to node0. For example, the extrinsic information transmitted by node0(e.g., RSU220) to node1(e.g., UE205) would be the combined intrinsic information obtained from node2(e.g., UE210) and from node3(e.g., UE215), not originally possessed by node1(e.g., UE205). Extrinsic information transmitted by node0to node2would be the combined intrinsic information obtained from nodes1and3, not originally possessed by node-2. Finally, nodes1,2, and/or3may infer the presence of the sensed object(s) from both the intrinsic and the extrinsic information.

Moreover, there is a power penalty (e.g., power usage exceeding a threshold) associated with a VUE using all its available sensors all the time to obtain the situational awareness for the vehicle. For example, as is illustrated inFIG. 2, even if the VUE were to use all of its available sensors, there is no guarantee that the vehicle is able to obtain an accurate sense of its surroundings (e.g., due to obstructions, such as buildings).

Such techniques generally fail to address numerous aspects of iterative sensing operations within a wireless communication system. One example may include an absence of support regarding how nodes1,2, and/or3(e.g., UE205, UE210, and UE215, respectively) should transmit the first (initial) intrinsic information to node0when performing cooperative sensor fusion. Another example may include, based on the extrinsic information provided by node0(e.g., RSU220) to each of nodes1,2, and/or3, how should these nodes transmit subsequent intrinsic information to node0. In another example, based on the extrinsic information provided by node0, how can nodes1,2, and/or3adapt their respective sensor capabilities in a manner to improve power efficiency during sensing operations, yet be able to obtain as accurate as possible situational awareness (e.g., the global view) of its surroundings.

Accordingly, aspects of the described techniques provide various mechanisms to improve iterative sensing operations within wireless communication system200. Such techniques generally provide mechanisms where UE205, UE210, and/or UE215improve power efficiency, cumulative results of the iterative sensing operations, and the like. Initially, it is to be understood that each of UE205, UE210, and/or UE215may have a set of available sensors that may be used for sensing operations. Each available sensor may be associated with a specific sensor type, e.g., such as a LIDAR sensing type, a RADAR sensing type, a camera sensing type (e.g., mono-camera, stereo-camera, etc.), a ranging sensor type, etc. As one non-limiting example, this may include node1(e.g., UE205) being equipped with a LIDAR sensor, a RADAR sensor, and a camera sensor, node2(e.g., UE210) being equipped with a LIDAR sensor, a mono-camera sensor, a stereo-camera sensor, and so forth.

Aspects of the described techniques broadly defined various mechanisms by which a UE (such as UE205, UE210, and/or UE215) may select the first subset of sensors from the set of available sensors of the UE. That is, the described techniques provide mechanisms whereby the UE selects some (e.g., the first subset) of its available sensors to perform sensing operations. The UE may select the sensor(s) to be included in the first subset of sensors based on a sensor selection criteria. The UE sensor selection criteria may generally define a rule or criterion that the UE uses to determine which sensor(s) are to be initially included for sensing operations. This may avoid the situation where each UE defaults to using all available sensors when, in some examples, doing so may be impractical or unnecessary. The UE may typically perform sensing operations to measure, identify, or otherwise obtain a first sensing data (e.g., its intrinsic sensing data, which may also be considered UE-measured sensing data).

In one example, the UE may select the first subset of sensors randomly from the set of available sensors. That is, in one example each node may choose a random subset of its sensors to measure, identify, or otherwise obtain its initial intrinsic information. In one non-limiting example, node1(e.g., UE205) may choose or select its LIDAR and RADAR sensors as the first subset of sensors, whereas node2(e.g., UE210) may choose or select its mono-camera sensor (e.g., to detect a preconfigured object at a preconfigured location). Since each node may choose a subset of its available sensors, all of the nodes in the wireless communication system may therefore use the same sensors or different sensors. This may generally provide diversity with respect to the sensors being used to be able to detect/quantify the object of interest. Accordingly, the sensor selection criteria may, in some examples, include UE205, UE210, and/or UE215randomly selecting their respective first subset of sensors to use for sensing operations.

In another example, the UE may select the first subset of sensors based on an identifier associated with the UE. That is, each node may choose the number of sensors based on its own identifier. As one example, a node associated with an odd numbered identifier may choose one sensor to provide initial intrinsic information, while a node with an even identifier may choose two sensors to provide its initial intrinsic information. Once the number of sensors is determined based on the identifier, the actual sensor chosen by the node could be random. For example, node1with an odd identifier may choose a LIDAR sensor as its first subset of sensors, while node2with an even identifier may choose LIDAR and stereo-camera sensors as its first subset of sensors. Accordingly, in this example the sensor selection criteria may include each of UE205, UE210, and/or UE215choosing the number and/or which sensor(s) to be included in the first subset of sensors based on their respective identifiers.

In another example, the UE may select the first subset of sensors randomly from the set of available sensors based on a power usage metric associated with each sensor. That is, in this example all of the nodes in the system may begin to transmit with only one sensor, which may be the same sensor or different sensors across different UE. For example, each node in the system may choose a sensor that has the least power consumption (e.g., power usage metric). Even in the situation where all of the nodes in that choosing the same sensor (e.g., a LIDAR sensor), the fact that each node has a different point of view to the object of interest may improve diversity in providing different initial intrinsic information from the different nodes.

For example, node1(e.g., UE205) may have a clear line of sight in detecting an (pre-configured) object at a (pre-configured) location, while node2(e.g., UE210) may not have a clear line of sight (e.g., occlusion due to buildings). Although nodes1and2may still use the same sensor in detecting the object, node-1will presumably have a higher level of confidence in its initial intrinsic information than node2.

Aspects of the examples discussed above may have various characteristics. For example, these techniques may ensure that not all sensors are being used by all nodes all the time for initial intrinsic information transmission, thereby conserving power. Moreover, each node transmits its initial intrinsic information (e.g., first sensing data) by using a minimum number of sensors (making the sensing operations power efficient), yet still being able to obtain the global view of the object due to the fact that different nodes have different points of view of the same object. This enables nodes to transmit different intrinsic information based on their respective sensing operations.

So for example, when nodes may choose sensor(s) randomly/deterministically based on the power level, node1may choose a sensor that expends power level p_l, while node2randomly chooses a sensor that expends power level p_2, where p_1>p_2. In one case, node(s) with an even identifier(s) may choose a sensor(s) with power threshold p_1, while node(s) with odd identifier(s) may choose a sensor(s) with power threshold p_2.

Accordingly, UE205, UE210, and/or UE215may each perform sensing operations using the sensor(s) in their respective first subset of sensors to obtain first sensing data, and then each UE may transmit a first sensing report indicating the first sensing data. The first sensing report may be transmitted to a base station, such as RSU220, which may monitor, control, or otherwise manage aspects of sensing operations within wireless communication system200. For example, the base station (e.g., RSU220) may be configured or otherwise act within the wireless network as a device receiving intrinsic sensing data from UEs within the network. The base station may then identify, determine, or otherwise generate, a unified sensing report based on the sensing reports (e.g., the first sensing report received from the respective UEs). The unified sensing report received from the plurality of UEs within the wireless network may generally provide a unified or more comprehensive understanding of the situational awareness for UE205, UE210, and/or UE215. That is, the base station may transmit or otherwise provide a second sensing report to each UE within the wireless network indicating second sensing data. In this context, the second sensing data may include the unified sensing report developed based on a first sensing report(s) received from various UEs within the network. In some aspects, the second sensing data may correspond to extrinsic sensing data/information in that includes sensing data that is not originally detected or otherwise sensed by the receiving node.

Aspects of the techniques described herein also provide various mechanisms by which such nodes (e.g., UE205, UE210, and/or UE215) may perform subsequent sensing operations based on the second sensing report indicating the second sensing data (e.g., the extrinsic information) in a more efficient manner. That is, the described techniques address how the nodes should collect and transmit subsequent intrinsic information based on the extrinsic information received from node0(e.g., RSU220) in a power efficient way. For example, UE205, UE210, and/or UE215may perform additional sensing operations to obtain updated first sensing data (e.g., the subsequent intrinsic information) based on the second sensing report. UE205, UE210, and/or UE215may transmit a third sensing report indicating the updated first sensing data.

For example, let Ijtbe the initial intrinsic information (e.g., the first sensing data) provided by node j at time t using the first subset of sensors, and Ejt+1be the extrinsic information (e.g., the second sensing data) received by node j (e.g., j=1, 2, 3) from RSU220at time (t+1). In one example node j may switch on additional sensor(s)s at time t+1, (on top of the sensors it used at time t), to transmit new intrinsic information (e.g., the third sensing data) at time (t+1), based on the disparity between the extrinsic and the intrinsic information. Various options may be provided to support updating the subset of sensors used for sensing operations based on the extrinsic and the intrinsic sensing data.

In one example, this may include UE205, UE210, and/or UE215using the extrinsic information, in addition to their initial intrinsic information, to determine that a correlation between the unified sensing report fails to satisfy an accuracy threshold. For example, if |Ijt−Ejt+1|<THR1, node j may uses n1additional sensors at time t+1, to detect the object, e.g., in order to obtain additional features of the object, thereby enabling new intrinsic information Ijt+1to be transmitted at time t+1. Accordingly, UE205, UE210, and/or UE215(e.g., any of which may be considered node j) may select a second subset of sensors from the set of available sensors of the UE, with the second subset of sensors have more sensors than the first subset of sensors (e.g., the node may add sensors for subsequent sensing operations).

In another example, this may include UE205, UE210, and/or UE215using the extrinsic information, in addition to their initial intrinsic information, to determine that the correlation between the unified sensing report and the first sensing data satisfies the sensing accuracy threshold. For example, if ∥Jjt−Ejt+1|<THR1(e.g., THR1≈0) denotes the condition that there is no significant difference between the intrinsic and extrinsic information, this may mean that node j's view of the state of the object is substantively the same as that of the other node's (except node j) view of the object. Hence node j may switch off some sensors to conserve power due to minimal additional information that it would obtain from its own sensing. Accordingly, UE205, UE210, and/or UE215may select the second subset of sensors from the set of available sensors, with the second subset having fewer sensors than the first subset of sensors.

In another example, the sensing accuracy threshold may be a range of accuracy or confidence levels used to assess the extrinsic and the intrinsic information. For example, a low-end sensing accuracy threshold may be defined that is a lower threshold than the previously discussed sensing accuracy threshold. For example, if |Ijt−Ejt+1|<THR2, node j may use n2additional sensors at time t+1, e.g., in order to obtain additional features of the object, thereby enabling new intrinsic information to be transmitted at time (t+1),Ijt+1.

In the examples discussed above, n2≥n1. That is, the greater the disparity between the extrinsic information and the intrinsic information is, the more additional sensors that node j switches on (e.g., to track the object more closely (and carefully), in an attempt to infer more information on the object). The more similar the extrinsic information and the intrinsic information is, node j may conserve power by switching off its sensors, or at least some of its sensors, without losing the ability to obtain the global view of the sensed object.

In the context of the first example, the additional features in one case may mean the following: at time t, node j uses a LIDAR sensor to transmit Ijtdenoting the location of the object, for example. Due to disparity or differences between the extrinsic information and the intrinsic information, node j may switch on its RADAR sensor at time (t+1) to obtain range and velocity of the sensed object that aids in estimating the location more precisely, and transmits this as, Ijt+1at time (t+1). The additional feature represents range, velocity of the tracked object at time (t+1) due to turning on the RADAR sensor, which was not available at time t to node j. Accordingly, UE205, UE210, and/or UE215may determine that the correlation between the unified sensing report and the first sensing data satisfies the low-end sensing accuracy threshold that is a lower threshold than the sensing accuracy threshold. Selecting the second subset of sensors may be based on the correlation satisfying the low-end sensing accuracy threshold, even though the correlation may not have satisfied the original sensing accuracy threshold.

The techniques discussed above generally begin with UE205, UE210, and/or UE215transmitting their first sensing reports indicating intrinsic information developed during their sensing operations. However, in some examples UE205, UE210, and/or UE215do not have the initial first sensing data. That is, in some examples a UE (e.g., any of UE205, UE210, and/or UE215) may receive the sensing data (e.g., the extrinsic information) from RSU220indicating the unified sensing report based on sensing reports associated with other UE (e.g., other VUE performing sensing operations within the wireless network). The UE may identify or otherwise select the first subset of sensors from the set of available sensors based on the sensing report indicating the extrinsic sensing data. The UE may then perform sensing operations using the first subset of sensors to obtain UE-measured sensing data (e.g., intrinsic information).

That is, in some examples the nodes may not have its intrinsic information to begin with. In one example, a node (e.g., UE205) may not transmit any intrinsic information at time t (e.g., does not have any intrinsic information at time t). Upon reception of extrinsic information at time (t+1), the node transmit new intrinsic information, Ij(t+1)based solely on the extrinsic information Ej(t+1)In one example, this may include Ej(t+1)<THR1, node j uses n1sensors at time t+1 to obtain additional features of the sensed object. This may enable new intrinsic information Ij(t+1)to be transmitted at time t+1.

In another example, if THR1<Ej(t+1)<THR2, node j may use n2additional sensors at time t+1, to transmit new intrinsic information Ij(t+1)at time t+1. In some examples, n2may be zero, e.g., due to the fact that all the other nodes strongly hypothesize the presence of the sensed object. In this situation, node j may not add new information from its own intrinsic sensing.

FIGS. 3A-3Cillustrate an example of a wireless communication system300that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. Wireless communication system300may implement aspects of wireless communication system100. Wireless communication system300may include UE305, UE310, UE315, and/or RSU320, which may be examples of the corresponding devices described herein. For example, UE305, UE310, and/or UE315may be examples of a v-UE, as is described herein. RSU320may be an example of a base station and/or a device/function that controls, monitors, or otherwise manages aspects of sensing operations within wireless communication system300.FIGS. 3A-3Cgenerally illustrate steps that may be adopted in accordance with the techniques discussed herein, with wireless communication system300-aofFIG. 3Aillustrating a first step, wireless communication system300-bofFIG. 3Billustrating a second step, and wireless communication system300-cofFIG. 3Cillustrating a third step.

As discussed herein, aspects of the described techniques provide various mechanisms that may be adopted for iterative sensing operations within wireless communication system300. For example, UE305(e.g., VUE1), UE310(e.g., VUE2) and/or UE315(e.g., VUE3) may determine, identify, or otherwise select a first subset of sensors from a set of available set of sensors to use for sensing operations. That is, VUE1, VUE2, and/or VUE3may each be equipped with a set of available sensors (the same sensors and/or different sensors). Each sensor may be associated with a different sensor type (e.g., LIDAR sensor type, RADAR sensor type, etc.). Each sensor type may be associated with a power usage metric indicating or otherwise associated with an amount of power being used by each sensor. VUE1, VUE2, and/or VUE3may initially select the sensor(s) to be used in the first subset of sensors randomly, based on an identifier associated with the VUE, based on the power usage metric associated with the sensor(s), and the like.

Each VUE may use its respective first subset of sensors to perform sensing operations. For example, each of UE305, UE310, and/or UE315may perform sensing operations using the sensor(s) selected for their respective first subset of sensors to measure, identify, or otherwise obtain first sensing data. The first sensing data in this context may be sensing data measured by the respective UE during the sensing operations (e.g., intrinsic sensing data or information). Each UE may then transmit or otherwise provide a first sensing report indicating its first sensing data.

For example and referring first to wireless communication system300-aofFIG. 3A, UE305may transmit its first sensing report to RSU320indicating its first sensing data. UE310may transmit its first sensing report to RSU320indicating its first sensing data. And UE315may transmit its first sensing report to RSU320indicating its first sensing data. That is, each node (e.g., VUE) may provide its intrinsic information indicating the confidence (C) interval (e.g., in the range [0,1]) of the sensed objects' presence to RSU320. As shown inFIG. 3A, VUE1, VUE2, and VUE3may transmit, respectively, first sensing data with confidence levels of {0,1,1} to RSU320indicating the confidence of each VUE detecting the sensed object (e.g., pedestrian) at a location2(REG-2). That is, VUE1thinks (e.g., senses) that there is no object located at REG-2(i.e., confidence (C) of 0), while VUE2and VUE3do think (e.g., sense) the presence of the object at REG-2(i.e., confidence (C) of 1).

Referring to wireless communication system300-bofFIG. 3B, RSU320may receive the first sensing data in the first sensing reports from VUE1, VUE2, and/or VUE3. RSU320may receive the intrinsic information from UEs within its network and use the first sensing data to determine or otherwise identify a unified sensing report (e.g., a comprehensive situational picture/awareness). That is, RSU320receives the intrinsic information from all nodes and then transmits extrinsic information to each node. For example. RSU320may use the intrinsic information (e.g., the first sensing data contained in the first sensing reports) to determine extrinsic data (e.g., second sensing data contained in second sensing reports back to the VUEs). In one example, the extrinsic information about REG-2(e.g., the location of the sensed object) that RSU320transmits to node1(e.g., VUE1), is based on what node2and node3indicates about REG-2in their respective first sensing reports. In the example inFIG. 3B, RSU320transmits its second sensing data to the nodes, which indicate the probability (p) indication (e.g., p=1 to node-1), where p indicates the probability of the presence of the sensed object at location REG-2, as indicated by VUE2and VUE3. As shown inFIG. 3A, both VUE2and VUE3both indicate the presence of object at location REG-2(e.g., using the confidence (C) indications in the first sensing reports).

Turning to wireless communication system300-cofFIG. 3C, UE305, UE310, and/or UE315may each then perform additional sensing operations to obtain updated first sensing data (e.g., third sensing data). For example, UE305(e.g., VUE1or node1), UE310(e.g., VUE2or node2), and/or UE315(e.g., VUE3or node3) may select a second subset of sensors to use for the additional sensing operations based on the extrinsic information received in the second sensing reports from RSU320, as well as their initial intrinsic information. For example, node1has intrinsic information of {p=0} at time t, and extrinsic information of {p=1} at time (t+1). As there is a high dissimilarity between the intrinsic information and the extrinsic information (e.g., the correlation fails to satisfy a sensing accuracy threshold), node1may turn on additional sensors (e.g., RADAR) to obtain the range and velocity of the object. After tracking the object carefully for a longer duration, node1then obtains a higher confidence regarding the object's existence. With the additional sensor at time t+1, node1then estimates the new confidence of the object to be p=0.3 and sends this information to RSU320in a third or updated sensing report.

Nodes2and3both receive extrinsic information from RSU320with a probability indicator of {p=0.5} at time (t+1), while each node has an intrinsic information of {p=1} at time t. As extrinsic information, in this example, does not add new information (due to the 50% confidence indicated by p=0.5) to the already existing intrinsic information (with 100% confidence), nodes2and3in one case may choose to switch off one or more sensors (as they already have a strong understanding of the object due to 100% confidence). Alternately, in one case nodes2and3may not switch on additional sensors to obtain additional information on the same object, by retaining the same set of sensors used at time t. Accordingly, nodes2and3may determine that the correlation between the unified sensing report (e.g., the second sensing report) and the first sensing data satisfies the sensing accuracy threshold. In this instance, nodes2and3may maintain the original sensors as is or may select a second subset of sensors having fewer sensors than the first subset of sensors.

Accordingly, at time (t+1), nodes1,2, and3may transmit new intrinsic information, Ijt+1(j=1,2,3), obtained by adding new sensors (such as node1) or retaining the same/reduced sensors (such as nodes2and3) to transmit different/reduced/additional features. The intrinsic information transmission at time (t+1) is shown inFIG. 3C.

FIG. 4illustrates an example of a process400that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. Process400may implement aspects of wireless communication systems100,200, and/or300. Aspects of process400may be implemented at or implemented by VUE405, VUE410, VUE415, and/or RSU420, which may be examples of the corresponding devices described herein.

As discussed above, aspects of the described techniques may enable improved iterative sensing operations to be performed by VUE405, VUE410, VUE415, and/or RSU420. In those discussions, each of VUE405, VUE410, and VUE415(e.g., nodes1,2, and3, respectively) may each perform sensing operations using a first subset of sensors, transmit a first sensing report to RSU420indicating first sensing data (e.g., the results of the sensing operations). RSU420may determine a unified sensing report based on the first sensing reports received from VUE405, VUE410, and VUE415. RSU420transmits second sensing reports to VUE405, VUE410, and VUE415indicating second sensing data comprising the unified sensing data. VUE405, VUE410, and/or VUE415may update the sensor(s) used for sensing operations based at least in part on their own first sensing data (e.g., their own intrinsic information) and the second sensing report (e.g., the unified sensing report indicating extrinsic information). For example, the VUE may update its selected sensor(s) based on a confidence level satisfying one or more accuracy threshold(s).

For example and at425, VUE405may transmit its first sensing report (e.g., intrinsic information) to RSU420. Similarly and at430, VUE410may transmit its first sensing report (e.g., intrinsic information) to RSU420. And lastly at435, VUE415may transmit its first sensing report (e.g., intrinsic information) to RSU420. That is, each VUE may have selected their first subset of sensor(s) from their set of available sensors. The sensor(s) included in the first subset of sensors may be selected randomly, based on an identifier of the selecting VUE, based on a power usage metric associated with each sensor type, and the like. Each VUE may then perform the sensing operations using the sensor(s) included in their first subset of sensors to identify or otherwise obtain first sensing data (intrinsic information) that is indicated in the respective first sensing reports transmitted by each VUE.

At440, RSU420may determine, identify, construct, or otherwise obtain a unified sensing report based on the first sensing report(s) received from VUE(s) within the wireless network. That is, RSU420may receive each first sensing report indicating the intrinsic information from each node. RSU420may identify a confidence level associated with each first sensing report. Based on the intrinsic information indicated in each first sensing report and associated confidence levels, RSU420may use the intrinsic information from multiple perspectives to develop a comprehensive situational awareness understanding of the environment (e.g., the location, speed, travel direction, identification, etc., for the sensed object(s)). RSU420may assign a confidence level probability metric to one or more sensed objects included in the unified sensing report.

At445, RSU420may transmit the second sensing report (e.g., extrinsic information) to VUE405. Similarly and at450, RSU420may transmit the second sensing report (e.g., extrinsic information) to VUE410. And lastly at455, RSU420may transmit the second sensing report (e.g., extrinsic information) to VUE415. That is, each VUE may receive the second sensing report indicating the extrinsic information. The extrinsic information may be compiled from the intrinsic information and provide additional information regarding the situational awareness of the environment.

At460, VUE405may update the sensor(s) to be used for sensing operations based on the second sensing report and its own intrinsic information. At465, VUE410may update the sensor(s) to be used for sensing operations based on the second sensing report and its own intrinsic information. At470, VUE415may update the sensor(s) to be used for sensing operations based on the second sensing report and its own intrinsic information. That is, each VUE may update the sensor(s) included in the first subset of sensors (e.g., an updated first subset of sensor or a second subset of sensors). This may include adding some sensor(s), removing some sensor(s), etc. For example, each VUE may add sensors if the confidence level fails to satisfy a sensing accuracy threshold (e.g., add more sensors for sensing operations to develop a better understanding of its situational awareness). Conversely, each VUE may remove sensors if the confidence level satisfies the sensing accuracy threshold (e.g., remove sensors for sensing operations since the VUE has a high confidence it its understanding of its situational awareness). In some examples, multiple sensing accuracy thresholds may be used to determine when and/or which sensors should be added or removed from sensing operations.

Accordingly, VUE405, VUE410, and/or VUE415may, in coordination with RSU420, rely on an iterative process to improve sensing efficiency, without losing confidence it its understanding of its situational awareness.

The communications manager520, the receiver510, the transmitter515, or various combinations thereof or various components thereof may be examples of means for performing various aspects of power efficient iterative sensor fusion as described herein. For example, the communications manager520, the receiver510, the transmitter515, or various combinations or components thereof may support a method for performing one or more of the functions described herein.

The communications manager520may support wireless communication at a UE in accordance with examples as disclosed herein. For example, the communications manager520may be configured as or otherwise support a means for selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The communications manager520may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The communications manager520may be configured as or otherwise support a means for transmitting a first sensing report indicating the first sensing data. The communications manager520may be configured as or otherwise support a means for receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Additionally, or alternatively, the communications manager520may support wireless communications at a UE in accordance with examples as disclosed herein. For example, the communications manager520may be configured as or otherwise support a means for receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE. The communications manager520may be configured as or otherwise support a means for selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The communications manager520may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

By including or configuring the communications manager520in accordance with examples as described herein, the device505(e.g., a processor controlling or otherwise coupled to the receiver510, the transmitter515, the communications manager520, or a combination thereof) may support techniques for improving accuracy and efficiency of iterative sensor fusion based on intrinsic and extrinsic sensing information being used to more optimally select sensor(s) for sensing operations.

The device605, or various components thereof, may be an example of means for performing various aspects of power efficient iterative sensor fusion as described herein. For example, the communications manager620may include a subset of sensor manager625, a sensing operation manager630, a sensing report manager635, a sensing update manager640, or any combination thereof. The communications manager620may be an example of aspects of a communications manager520as described herein. In some examples, the communications manager620, or various components thereof, may be configured to perform various operations (e.g., receiving, monitoring, transmitting) using or otherwise in cooperation with the receiver610, the transmitter615, or both. For example, the communications manager620may receive information from the receiver610, send information to the transmitter615, or be integrated in combination with the receiver610, the transmitter615, or both to receive information, transmit information, or perform various other operations as described herein.

The communications manager620may support wireless communication at a UE in accordance with examples as disclosed herein. The subset of sensor manager625may be configured as or otherwise support a means for selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The sensing operation manager630may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The sensing report manager635may be configured as or otherwise support a means for transmitting a first sensing report indicating the first sensing data. The subset of sensor manager625may be configured as or otherwise support a means for receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Additionally, or alternatively, the communications manager620may support wireless communications at a UE in accordance with examples as disclosed herein. The sensing report manager635may be configured as or otherwise support a means for receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE. The sensing update manager640may be configured as or otherwise support a means for selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The sensing update manager640may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

FIG. 7shows a block diagram700of a communications manager720that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. The communications manager720may be an example of aspects of a communications manager520, a communications manager620, or both, as described herein. The communications manager720, or various components thereof, may be an example of means for performing various aspects of power efficient iterative sensor fusion as described herein. For example, the communications manager720may include a subset of sensor manager725, a sensing operation manager730, a sensing report manager735, a sensing update manager740, a random sensor selection manager745, an ID-based sensor selection manager750, a sensor power usage manager755, a correlation manager760, a confidence metric manager765, or any combination thereof. Each of these components may communicate, directly or indirectly, with one another (e.g., via one or more buses).

The communications manager720may support wireless communication at a UE in accordance with examples as disclosed herein. The subset of sensor manager725may be configured as or otherwise support a means for selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The sensing operation manager730may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The sensing report manager735may be configured as or otherwise support a means for transmitting a first sensing report indicating the first sensing data. In some examples, the subset of sensor manager725may be configured as or otherwise support a means for receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

In some examples, the random sensor selection manager745may be configured as or otherwise support a means for selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors of the UE.

In some examples, the ID-based sensor selection manager750may be configured as or otherwise support a means for selecting, according to the sensor selection criteria, the first subset of sensors based on an identifier associated with the UE.

In some examples, the sensor power usage manager755may be configured as or otherwise support a means for selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors based on a power usage metric associated with the first subset of sensors.

In some examples, the sensing update manager740may be configured as or otherwise support a means for performing, based on the second sensing report, additional sensing operations to obtain updated first sensing data. In some examples, the sensing update manager740may be configured as or otherwise support a means for transmitting a third sensing report indicating the updated first sensing data.

In some examples, the correlation manager760may be configured as or otherwise support a means for determining, based on the second sensing report, that a correlation between the unified sensing report and the first sensing data fails to satisfy a sensing accuracy threshold. In some examples, the correlation manager760may be configured as or otherwise support a means for selecting, based on the correlation failing to satisfy the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors including more sensors than the first subset of sensors.

In some examples, the correlation manager760may be configured as or otherwise support a means for determining, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold that is a lower threshold than the sensing accuracy threshold, where selecting the second subset of sensors including more sensors is based on the correlation satisfying the low-end sensing accuracy threshold.

In some examples, the correlation manager760may be configured as or otherwise support a means for determining, based on the second sensing report, that a correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold. In some examples, the correlation manager760may be configured as or otherwise support a means for selecting, based on the correlation satisfying the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors including less sensors than the first subset of sensors.

Additionally, or alternatively, the communications manager720may support wireless communications at a UE in accordance with examples as disclosed herein. In some examples, the sensing report manager735may be configured as or otherwise support a means for receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE. The sensing update manager740may be configured as or otherwise support a means for selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. In some examples, the sensing update manager740may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

In some examples, the confidence metric manager765may be configured as or otherwise support a means for determining, based on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold. In some examples, the confidence metric manager765may be configured as or otherwise support a means for selecting the first subset of sensors from the set of available sensors of the UE based at least in part on the confidence metric satisfying the confidence threshold.

In some examples, the confidence metric manager765may be configured as or otherwise support a means for determining, based on the sensing report, that a confidence metric of the sensing data fails to satisfy a confidence threshold. In some examples, the confidence metric manager765may be configured as or otherwise support a means for selecting the first subset of sensors from the set of available sensors of the UE based at least in part on the confidence metric failing to satisfy the confidence threshold.

In some examples, the sensing report manager735may be configured as or otherwise support a means for transmitting an indication of the UE-measured sensing data.

The communications manager820may support wireless communication at a UE in accordance with examples as disclosed herein. For example, the communications manager820may be configured as or otherwise support a means for selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The communications manager820may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The communications manager820may be configured as or otherwise support a means for transmitting a first sensing report indicating the first sensing data. The communications manager820may be configured as or otherwise support a means for receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Additionally, or alternatively, the communications manager820may support wireless communications at a UE in accordance with examples as disclosed herein. For example, the communications manager820may be configured as or otherwise support a means for receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE. The communications manager820may be configured as or otherwise support a means for selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The communications manager820may be configured as or otherwise support a means for performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

By including or configuring the communications manager820in accordance with examples as described herein, the device805may support techniques for improving accuracy and efficiency of iterative sensor fusion based on intrinsic and extrinsic sensing information being used to more optimally select sensor(s) for sensing operations.

FIG. 9shows a flowchart illustrating a method900that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. The operations of the method900may be implemented by a UE or its components as described herein. For example, the operations of the method900may be performed by a UE115as described with reference toFIGS. 1 through 8. In some examples, a UE may execute a set of instructions to control the functional elements of the UE to perform the described functions. Additionally, or alternatively, the UE may perform aspects of the described functions using special-purpose hardware.

At905, the method may include selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The operations of905may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of905may be performed by a subset of sensor manager725as described with reference toFIG. 7.

At910, the method may include performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The operations of910may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of910may be performed by a sensing operation manager730as described with reference toFIG. 7.

At915, the method may include transmitting a first sensing report indicating the first sensing data. The operations of915may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of915may be performed by a sensing report manager735as described with reference toFIG. 7.

At920, the method may include receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE. The operations of920may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of920may be performed by a subset of sensor manager725as described with reference toFIG. 7.

FIG. 10shows a flowchart illustrating a method1000that supports power efficient iterative sensor fusion in accordance with aspects of the present disclosure. The operations of the method1000may be implemented by a UE or its components as described herein. For example, the operations of the method1000may be performed by a UE115as described with reference toFIGS. 1 through 8. In some examples, a UE may execute a set of instructions to control the functional elements of the UE to perform the described functions. Additionally. or alternatively, the UE may perform aspects of the described functions using special-purpose hardware.

At1005, the method may include selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The operations of1005may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1005may be performed by a subset of sensor manager725as described with reference toFIG. 7.

At1010, the method may include selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors of the UE. The operations of1010may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1010may be performed by a random sensor selection manager745as described with reference toFIG. 7.

At1015, the method may include performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The operations of1015may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1015may be performed by a sensing operation manager730as described with reference toFIG. 7.

At1020, the method may include transmitting a first sensing report indicating the first sensing data. The operations of1020may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1020may be performed by a sensing report manager735as described with reference toFIG. 7.

At1025, the method may include receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE. The operations of1025may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1025may be performed by a subset of sensor manager725as described with reference toFIG. 7.

At1105, the method may include selecting, based on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The operations of1105may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1105may be performed by a subset of sensor manager725as described with reference toFIG. 7.

At1110, the method may include selecting, according to the sensor selection criteria, the first subset of sensors based on an identifier associated with the UE. The operations of1110may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1110may be performed by an ID-based sensor selection manager750as described with reference toFIG. 7.

At1115, the method may include performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data including sensing data measured by the UE during the sensing operations. The operations of1115may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1115may be performed by a sensing operation manager730as described with reference toFIG. 7.

At1120, the method may include transmitting a first sensing report indicating the first sensing data. The operations of1120may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1120may be performed by a sensing report manager735as described with reference toFIG. 7.

At1125, the method may include receiving, based on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE. The operations of1125may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1125may be performed by a subset of sensor manager725as described with reference toFIG. 7.

At1205, the method may include receiving a sensing report indicating a sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UE. The operations of1205may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1205may be performed by a sensing report manager735as described with reference toFIG. 7.

At1210, the method may include determining, based on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold. The operations of1210may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1210may be performed by a confidence metric manager765as described with reference toFIG. 7.

At1215, the method may include selecting, based on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type. The operations of1215may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1215may be performed by a sensing update manager740as described with reference toFIG. 7.

At1220, the method may include selecting the first subset of sensors from the set of available sensors of the UE based at least in part on the confidence metric satisfying the confidence threshold. The operations of1220may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1220may be performed by a confidence metric manager765as described with reference toFIG. 7.

At1225, the method may include performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations. The operations of1225may be performed in accordance with examples as disclosed herein. In some examples, aspects of the operations of1225may be performed by a sensing update manager740as described with reference toFIG. 7.

Aspect 1: A method for wireless communication at a UE, comprising: selecting, based at least in part on a sensor selection criteria, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type; performing, using the first subset of sensors, sensing operations to obtain a first sensing data, the first sensing data comprising sensing data measured by the UE during the sensing operations; transmitting a first sensing report indicating the first sensing data; and receiving, based at least in part on the first sensing report, a second sensing report indicating a second sensing data, the second sensing data comprising a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UE.

Aspect 2: The method of aspect 1, further comprising: selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors of the UE.

Aspect 3: The method of any of aspects 1 through 2, further comprising: selecting, according to the sensor selection criteria, the first subset of sensors based at least in part on an identifier associated with the UE.

Aspect 4: The method of any of aspects 1 through 3, further comprising: selecting, according to the sensor selection criteria, the first subset of sensors randomly from the set of available sensors based at least in part on a power usage metric associated with the first subset of sensors.

Aspect 5: The method of any of aspects 1 through 4, further comprising: performing, based at least in part on the second sensing report, additional sensing operations to obtain updated first sensing data; and transmitting a third sensing report indicating the updated first sensing data.

Aspect 6: The method of any of aspects 1 through 5, further comprising: determining, based at least in part on the second sensing report, that a correlation between the unified sensing report and the first sensing data fails to satisfy a sensing accuracy threshold; and selecting, based at least in part on the correlation failing to satisfy the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors comprising more sensors than the first subset of sensors.

Aspect 7: The method of aspect 6, further comprising: determining, based at least in part on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold that is a lower threshold than the sensing accuracy threshold, wherein selecting the second subset of sensors comprising more sensors is based at least in part on the correlation satisfying the low-end sensing accuracy threshold.

Aspect 8: The method of any of aspects 1 through 7, further comprising: determining, based at least in part on the second sensing report, that a correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold; and selecting, based at least in part on the correlation satisfying the sensing accuracy threshold, a second subset of sensors from the set of available sensors of the UE, the second subset of sensors comprising less sensors than the first subset of sensors.

Aspect 9: A method for wireless communications at a UE, comprising: receiving a sensing report indicating a sensing data, the sensing data comprising a unified sensing report based on one or more sensing reports associated with other UE; selecting, based at least in part on the sensing report, a first subset of sensors from a set of available sensors of the UE, each sensor in the set of available sensors associated with a sensor type; and performing, using the first subset of sensors, sensing operations to obtain UE-measured sensing data during the sensing operations.

Aspect 10: The method of aspect 9, further comprising: determining, based at least in part on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold; and selecting the first subset of sensors from the set of available sensors of the UE based at least in part on the confidence metric satisfying the confidence threshold.

Aspect 11: The method of any of aspects 9 through 10, further comprising: determining, based at least in part on the sensing report, that a confidence metric of the sensing data fails to satisfy a confidence threshold; and selecting the first subset of sensors from the set of available sensors of the UE based at least in part on the confidence metric failing to satisfy the confidence threshold.

Aspect 12: The method of any of aspects 9 through 11, further comprising: transmitting an indication of the UE-measured sensing data.

Aspect 14: An apparatus for wireless communication at a UE, comprising at least one means for performing a method of any of aspects 1 through 8.

Aspect 17: An apparatus for wireless communications at a UE, comprising at least one means for performing a method of any of aspects 9 through 12.