Patent Publication Number: US-2023146061-A1

Title: Update rate adaptation for collaborative radar and mapping

Description:
INTRODUCTION 
     The present disclosure relates generally to communication systems, and more particularly, to a wireless communication system including radar measurements. 
     Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts. Typical wireless communication systems may employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems. 
     These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate on a municipal, national, regional, and even global level. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of a continuous mobile broadband evolution promulgated by Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with Internet of Things (IoT)), and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra-reliable low latency communications (URLLC). Some aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard. There exists a need for further improvements in 5G NR technology. These improvements may also be applicable to other multi-access technologies and the telecommunication standards that employ these technologies. 
     BRIEF SUMMARY 
     The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later. 
     In an aspect of the disclosure, a method for wireless communication is provided. The method includes transmitting, to each UE in a first set of one or more UEs, an indication to report at least one radar measurement. The method includes receiving, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. 
     In an aspect of the disclosure, an apparatus for wireless communication is provided. The apparatus includes a memory and at least one processor coupled to the memory, the memory and the at least one processor configured to transmit, to each UE in a first set of one or more UEs, an indication to report at least one radar measurement, and receive, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. 
     In an aspect of the disclosure, an apparatus for wireless communication is provided. The apparatus includes means for transmitting, to each UE in a first set of one or more UEs, an indication to report at least one radar measurement. The apparatus includes means for receiving, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. 
     In an aspect of the disclosure, a computer-readable medium storing a program for execution by at least one processor coupled to the computer-readable medium is provided. The program including a set of instructions for transmitting, to each UE in a first set of one or more UEs, an indication to report at least one radar measurement. The program may further include sets of instructions for receiving, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. 
     In an aspect of the disclosure, a method for wireless communication is provided. The method includes receiving, from a wireless device, an indication to report a radar measurement to the wireless device. The method also includes receiving a first set of configuration parameters for the radar measurement reporting. The method further includes performing a first radar measurement based on the first set of configuration parameters and network state information. The method also includes transmitting, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. 
     In an aspect of the disclosure, an apparatus for wireless communication is provided. The apparatus includes a memory and at least one processor coupled to the memory, the memory and the at least one processor configured to receive, from a wireless device, an indication to report a radar measurement to the wireless device. The memory and the at least one processor may further be configured to receive a first set of configuration parameters for the radar measurement reporting. The memory and the at least one processor may further be configured to perform a first radar measurement based on the first set of configuration parameters and network state information. The memory and the at least one processor may further be configured to transmit, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. 
     In an aspect of the disclosure, an apparatus for wireless communication is provided. The apparatus includes means for receiving, from a wireless device, an indication to report a radar measurement to the wireless device. The apparatus also includes means for receiving a first set of configuration parameters for the radar measurement reporting. The apparatus further includes means for performing a first radar measurement based on the first set of configuration parameters and network state information. The apparatus also includes means for transmitting, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. 
     In an aspect of the disclosure, a computer-readable medium storing a program for execution by at least one processor coupled to the computer-readable medium is provided. The program including a set of instructions for receiving, from a wireless device, an indication to report a radar measurement to the wireless device. The program may further include sets of instructions for receiving a first set of configuration parameters for the radar measurement reporting. The program may further include sets of instructions for performing a first radar measurement based on the first set of configuration parameters and network state information. The program may further include sets of instructions for transmitting, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. 
     To the accomplishment of the foregoing and related ends, the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed, and this description is intended to include all such aspects and their equivalents. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating an example of a wireless communications system and an access network, in accordance with aspects presented herein. 
         FIG.  2 A  is a diagram illustrating an example of a first subframe within a 5G NR frame structure. 
         FIG.  2 B  is a diagram illustrating an example of DL channels within a 5G NR subframe. 
         FIG.  2 C  is a diagram illustrating an example of a second subframe within a 5G NR frame structure. 
         FIG.  2 D  is a diagram illustrating an example of UL channels within a 5G NR subframe. 
         FIG.  3    is a block diagram of a base station in communication with a UE in an access network, in accordance with aspects presented herein. 
         FIG.  4    illustrates an example JCR application involving an RSU and a radar-capable vehicle, in accordance with aspects presented herein. 
         FIG.  5    is a call flow diagram illustrating a method for radar measurement sharing, in accordance with aspects presented herein. 
         FIG.  6    illustrates an example JCR application in which multiple radar-capable vehicles participate in radar measurement sharing, in accordance with aspects presented herein. 
         FIG.  7    is a call flow diagram illustrating a UE updating a local radar measurement transmission configuration based on updated network state information, in accordance with aspects presented herein. 
         FIG.  8    is a flowchart of a method of wireless communication, in accordance with aspects presented herein. 
         FIG.  9    is a flowchart of a method of wireless communication, in accordance with aspects presented herein. 
         FIG.  10    is a flowchart of a method of wireless communication, in accordance with aspects presented herein. 
         FIG.  11    is a flowchart of a method of wireless communication, in accordance with aspects presented herein. 
         FIG.  12    is a diagram illustrating an example of a hardware implementation for an apparatus, in accordance with aspects presented herein. 
         FIG.  13    is a diagram illustrating an example of a hardware implementation for an apparatus, in accordance with aspects presented herein. 
         FIG.  14    illustrates example aspects of radar detection, in accordance with aspects presented herein. 
         FIG.  15    illustrates example aspects of a sidelink slot structure, in accordance with aspects presented herein. 
     
    
    
     DETAILED DESCRIPTION 
     In some aspects of wireless communication, radar-based sensing may provide information about obstacles and/or objects in an environment. For example, a base station or a road side unit (RSU) may have a radar component that transmits a radar signal and monitors for reflections of the radar signal that indicate the presence of a physical object or other information about the surrounding environment. The base station or RSU may use the information to adjust one or more parameters for wireless communication. In some aspects, radar measurements from at least one radar-capable device (e.g., a user equipment (UE), a base station, an RSU, etc.) may provide information about a region in a line-of-sight (LoS) associated with the radar-capable device. LoS may refer to regions that receive an unobstructed signal from the radar device. In some aspects, being aware of the environment outside the region in the LoS associated with a particular radar-capable device (or a network node) responsible for aggregating radar measurement information received from a set of additional radar devices (e.g., associated with a JCR system), may allow the particular radar-capable device (or the network node) to find available beam directions that may reach a vehicle or other UE. A joint communication-radar (JCR) system integrates radar and wireless communication functionalities using shared hardware and signal processing modules and, in some aspects, sharing transmitted signals. JCR systems may provide for reception, at a first radar device, of radar measurement information from a set of additional radar devices to improve an environment mapping through a collaborative radar measurement application that combines radar information from different perspectives (e.g., from different devices) within a wireless communication system. However, in some aspects, having each radar-capable device in a JCR system transmit a report regarding a set of radar measurements may result in network congestion. 
     Accordingly, aspects presented herein provide for improved wireless communication through selecting a subset of radar-capable devices to transmit radar measurements for the collaborative radar measurement and/or configuring the selected radar-capable devices to determine an update rate (e.g., a rate of transmitting radar measurement information) to reduce transmissions associated with the collaborative radar measurement and avoid network congestion by reducing a number of transmitting devices and/or a frequency of transmissions from transmitting devices associated with the collaborative radar measurement application. In some aspects, the subset of radar-capable devices and/or the determined update rate may be selected and/or determined to provide improved environment mapping based on the radar information from multiple devices while reducing network congestion associated with the improved environment mapping. Selecting the subset of radar-capable devices to report radar measurements and/or configuring the selected devices to determine an update rate may enable collaborative radar information sharing in a manner that improves network communication by reducing network congestion associated with the collaborative radar measurement (e.g., the JCR system) by reducing a number of transmissions associated with the collaborative radar measurement. 
     The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details. In some instances, well known structures and components are shown in block diagram form in order to avoid obscuring such concepts. 
     Several aspects of telecommunication systems will now be presented with reference to various apparatus and methods. These apparatus and methods will be described in the following detailed description and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as “elements”). These elements may be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. 
     By way of example, an element, or any portion of an element, or any combination of elements may be implemented as a “processing system” that includes one or more processors. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, systems on a chip (SoC), baseband processors, field programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functionality described throughout this disclosure. One or more processors in the processing system may execute software. Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise. 
     Accordingly, in one or more examples, the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, the functions may be stored on or encoded as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media. Storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise a random-access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of the types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer. 
     While aspects and implementations are described in this application by illustration to some examples, those skilled in the art will understand that additional implementations and use cases may come about in many different arrangements and scenarios. Aspects described herein may be implemented across many differing platform types, devices, systems, shapes, sizes, and packaging arrangements. For example, implementations and/or uses may come about via integrated chip implementations and other non-module-component based devices (e.g., end-user devices, vehicles, communication devices, computing devices, industrial equipment, retail/purchasing devices, medical devices, artificial intelligence (AI)-enabled devices, etc.). While some examples may or may not be specifically directed to use cases or applications, a wide assortment of applicability of described aspects may occur. Implementations may range a spectrum from chip-level or modular components to non-modular, non-chip-level implementations and further to aggregate, distributed, or original equipment manufacturer (OEM) devices or systems incorporating one or more aspects of the described aspects. In some practical settings, devices incorporating described aspects and features may also include additional components and features for implementation and practice of claimed and described aspect. For example, transmission and reception of wireless signals necessarily includes a number of components for analog and digital purposes (e.g., hardware components including antenna, RF-chains, power amplifiers, modulators, buffer, processor(s), interleaver, adders/summers, etc.). It is intended that aspects described herein may be practiced in a wide variety of devices, chip-level components, systems, distributed arrangements, aggregated or disaggregated components, end-user devices, etc. of varying sizes, shapes, and constitution. 
       FIG.  1    is a diagram illustrating an example of a wireless communications system and an access network  100 . The wireless communications system (also referred to as a wireless wide area network (WWAN)) includes base stations  102 , UEs  104 , an Evolved Packet Core (EPC)  160 , and another core network  190  (e.g., a 5G Core (5GC)). The base stations  102  may include macrocells (high power cellular base station) and/or small cells (low power cellular base station). The macrocells include base stations. The small cells include femtocells, picocells, and microcells. 
     The base stations  102  configured for 4G LTE (collectively referred to as Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) may interface with the EPC  160  through first backhaul links  132  (e.g., S1 interface). The base stations  102  configured for 5G NR (collectively referred to as Next Generation RAN (NG-RAN)) may interface with core network  190  through second backhaul links  184 . In addition to other functions, the base stations  102  may perform one or more of the following functions: transfer of user data, radio channel ciphering and deciphering, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service (MBMS), subscriber and equipment trace, RAN information management (RIM), paging, positioning, and delivery of warning messages. The base stations  102  may communicate directly or indirectly (e.g., through the EPC  160  or core network  190 ) with each other over third backhaul links  134  (e.g., X2 interface). The first backhaul links  132 , the second backhaul links  184  (e.g., Xn interface), and the third backhaul links  134  may be wired or wireless. 
     In some aspects, a base station  102  or  180  may be referred as a RAN and may include aggregated or disaggregated components. As an example of a disaggregated RAN, a base station may include a central unit (CU)  106 , one or more distributed units (DU)  105 , and/or one or more remote units (RU)  109 , as illustrated in  FIG.  1   . A RAN may be disaggregated with a split between an RU  109  and an aggregated CU/DU. A RAN may be disaggregated with a split between the CU  106 , the DU  105 , and the RU  109 . A RAN may be disaggregated with a split between the CU  106  and an aggregated DU/RU. The CU  106  and the one or more DUs  105  may be connected via an F1 interface. A DU  105  and an RU  109  may be connected via a fronthaul interface. A connection between the CU  106  and a DU  105  may be referred to as a midhaul, and a connection between a DU  105  and an RU  109  may be referred to as a fronthaul. The connection between the CU  106  and the core network may be referred to as the backhaul. The RAN may be based on a functional split between various components of the RAN, e.g., between the CU  106 , the DU  105 , or the RU  109 . The CU may be configured to perform one or more aspects of a wireless communication protocol, e.g., handling one or more layers of a protocol stack, and the DU(s) may be configured to handle other aspects of the wireless communication protocol, e.g., other layers of the protocol stack. In different implementations, the split between the layers handled by the CU and the layers handled by the DU may occur at different layers of a protocol stack. As one, non-limiting example, a DU  105  may provide a logical node to host a radio link control (RLC) layer, a medium access control (MAC) layer, and at least a portion of a physical (PHY) layer based on the functional split. An RU may provide a logical node configured to host at least a portion of the PHY layer and radio frequency (RF) processing. A CU  106  may host higher layer functions, e.g., above the RLC layer, such as a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer. In other implementations, the split between the layer functions provided by the CU, DU, or RU may be different. 
     An access network may include one or more integrated access and backhaul (IAB) nodes  111  that exchange wireless communication with a UE  104  or other IAB node  111  to provide access and backhaul to a core network. In an IAB network of multiple IAB nodes, an anchor node may be referred to as an IAB donor. The IAB donor may be a base station  102  or  180  that provides access to a core network  190  or EPC  160  and/or control to one or more IAB nodes  111 . The IAB donor may include a CU  106  and a DU  105 . IAB nodes  111  may include a DU  105  and a mobile termination (MT). The DU  105  of an IAB node  111  may operate as a parent node, and the MT may operate as a child node. 
     The base stations  102  may wirelessly communicate with the UEs  104 . Each of the base stations  102  may provide communication coverage for a respective geographic coverage area  110 . There may be overlapping geographic coverage areas  110 . For example, the small cell  102 ′ may have a coverage area  110 ′ that overlaps the coverage area  110  of one or more macro base stations  102 . A network that includes both small cell and macrocells may be known as a heterogeneous network. A heterogeneous network may also include Home Evolved Node Bs (eNBs) (HeNBs), which may provide service to a restricted group known as a closed subscriber group (CSG). The communication links  120  between the base stations  102  and the UEs  104  may include uplink (UL) (also referred to as reverse link) transmissions from a UE  104  to a base station  102  and/or downlink (DL) (also referred to as forward link) transmissions from a base station  102  to a UE  104 . The communication links  120  may use multiple-input and multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and/or transmit diversity. The communication links may be through one or more carriers. The base stations  102 /UEs  104  may use spectrum up to Y MHz (e.g., 5, 10, 15, 20, 100, 400, etc. MHz) bandwidth per carrier allocated in a carrier aggregation of up to a total of Yx MHz (x component carriers) used for transmission in each direction. The carriers may or may not be adjacent to each other. Allocation of carriers may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated for DL than for UL). The component carriers may include a primary component carrier and one or more secondary component carriers. A primary component carrier may be referred to as a primary cell (PCell) and a secondary component carrier may be referred to as a secondary cell (SCell). 
     Some UEs  104  may communicate with each other using device-to-device (D2D) communication link  158 . The D2D communication link  158  may use the DL/UL WWAN spectrum. The D2D communication link  158  may use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH). D2D communication may be through a variety of wireless D2D communications systems, such as for example, WiMedia, Bluetooth, ZigBee, Wi-Fi based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standard, LTE, or NR. 
     Some examples of sidelink communication may include vehicle-based communication devices that can communicate from vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I) (e.g., from the vehicle-based communication device to road infrastructure nodes such as a Road Side Unit (RSU)), vehicle-to-network (V2N) (e.g., from the vehicle-based communication device to one or more network nodes, such as a base station), vehicle-to-pedestrian (V2P), cellular vehicle-to-everything (C-V2X), and/or a combination thereof and/or with other devices, which can be collectively referred to as vehicle-to-anything (V2X) communications. Sidelink communication may be based on V2X or other D2D communication, such as Proximity Services (ProSe), etc. In addition to UEs, sidelink communication may also be transmitted and received by other transmitting and receiving devices, such as Road Side Unit (RSU)  107 , etc. Sidelink communication may be exchanged using a PC5 interface, such as described in connection with the example in  FIG.  15   . Although the following description, including the example slot structure of  FIG.  15   , may provide examples for sidelink communication in connection with 5G NR, the concepts described herein may be applicable to other similar areas, such as LTE, LTE-A, CDMA, GSM, and other wireless technologies. 
     The wireless communications system may further include a Wi-Fi access point (AP)  150  in communication with Wi-Fi stations (STAs)  152  via communication links  154 , e.g., in a 5 GHz unlicensed frequency spectrum or the like. When communicating in an unlicensed frequency spectrum, the STAs  152 /AP  150  may perform a clear channel assessment (CCA) prior to communicating in order to determine whether the channel is available. 
     The small cell  102 ′ may operate in a licensed and/or an unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell  102 ′ may employ NR and use the same unlicensed frequency spectrum (e.g., 5 GHz, or the like) as used by the Wi-Fi AP  150 . The small cell  102 ′, employing NR in an unlicensed frequency spectrum, may boost coverage to and/or increase capacity of the access network. 
     The electromagnetic spectrum is often subdivided, based on frequency/wavelength, into various classes, bands, channels, etc. In 5G NR, two initial operating bands have been identified as frequency range designations FR1 (410 MHz-7.125 GHz) and FR2 (24.25 GHz-52.6 GHz). Although a portion of FR1 is greater than 6 GHz, FR1 is often referred to (interchangeably) as a “sub-6 GHz” band in various documents and articles. A similar nomenclature issue sometimes occurs with regard to FR2, which is often referred to (interchangeably) as a “millimeter wave” b and in documents and articles, despite being different from the extremely high frequency (EHF) band (30 GHz-300 GHz) which is identified by the International Telecommunications Union (ITU) as a “millimeter wave” band. 
     The frequencies between FR1 and FR2 are often referred to as mid-band frequencies. Recent 5G NR studies have identified an operating band for these mid-band frequencies as frequency range designation FR3 (7.125 GHz-24.25 GHz). Frequency bands falling within FR3 may inherit FR1 characteristics and/or FR2 characteristics, and thus may effectively extend features of FR1 and/or FR2 into mid-band frequencies. In addition, higher frequency bands are currently being explored to extend 5G NR operation beyond 52.6 GHz. For example, three higher operating bands have been identified as frequency range designations FR2-2 (52.6 GHz-71 GHz), FR4 (71 GHz-114.25 GHz), and FR5 (114.25 GHz-300 GHz). Each of these higher frequency bands falls within the EHF band. 
     With the above aspects in mind, unless specifically stated otherwise, it should be understood that the term “sub-6 GHz” or the like if used herein may broadly represent frequencies that may be less than 6 GHz, may be within FR1, or may include mid-band frequencies. Further, unless specifically stated otherwise, it should be understood that the term “millimeter wave” or the like if used herein may broadly represent frequencies that may include mid-band frequencies, may be within FR2, FR4, FR2-2, and/or FR5, or may be within the EHF band. 
     A base station  102 , whether a small cell  102 ′ or a large cell (e.g., macro base station), may include and/or be referred to as an eNB, gNodeB (gNB), or another type of base station. Some base stations, such as gNB  180  may operate in a traditional sub 6 GHz spectrum, in millimeter wave frequencies, and/or near millimeter wave frequencies in communication with the UE  104 . When the gNB  180  operates in millimeter wave or near millimeter wave frequencies, the gNB  180  may be referred to as a millimeter wave base station. The millimeter wave base station  180  may utilize beamforming  182  with the UE  104  to compensate for the path loss and short range. The base station  180  and the UE  104  may each include a plurality of antennas, such as antenna elements, antenna panels, and/or antenna arrays to facilitate the beamforming. 
     The base station  180  may transmit a beamformed signal to the UE  104  in one or more transmit directions  182 ′. The UE  104  may receive the beamformed signal from the base station  180  in one or more receive directions  182 ″. The UE  104  may also transmit a beamformed signal to the base station  180  in one or more transmit directions. The base station  180  may receive the beamformed signal from the UE  104  in one or more receive directions. The base station  180 /UE  104  may perform beam training to determine the best receive and transmit directions for each of the base station  180 /UE  104 . The transmit and receive directions for the base station  180  may or may not be the same. The transmit and receive directions for the UE  104  may or may not be the same. 
     The EPC  160  may include a Mobility Management Entity (MME)  162 , other MMEs  164 , a Serving Gateway  166 , a Multimedia Broadcast Multicast Service (MBMS) Gateway  168 , a Broadcast Multicast Service Center (BM-SC)  170 , and a Packet Data Network (PDN) Gateway  172 . The MME  162  may be in communication with a Home Subscriber Server (HSS)  174 . The MME  162  is the control node that processes the signaling between the UEs  104  and the EPC  160 . Generally, the MME  162  provides bearer and connection management. All user Internet protocol (IP) packets are transferred through the Serving Gateway  166 , which itself is connected to the PDN Gateway  172 . The PDN Gateway  172  provides UE IP address allocation as well as other functions. The PDN Gateway  172  and the BM-SC  170  are connected to the IP Services  176 . The IP Services  176  may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), a PS Streaming Service, and/or other IP services. The BM-SC  170  may provide functions for MBMS user service provisioning and delivery. The BM-SC  170  may serve as an entry point for content provider MBMS transmission, may be used to authorize and initiate MBMS Bearer Services within a public land mobile network (PLMN), and may be used to schedule MBMS transmissions. The MBMS Gateway  168  may be used to distribute MBMS traffic to the base stations  102  belonging to a Multicast Broadcast Single Frequency Network (MBSFN) area broadcasting a particular service, and may be responsible for session management (start/stop) and for collecting eMBMS related charging information. 
     The core network  190  may include an Access and Mobility Management Function (AMF)  192 , other AMFs  193 , a Session Management Function (SMF)  194 , and a User Plane Function (UPF)  195 . The AMF  192  may be in communication with a Unified Data Management (UDM)  196 . The AMF  192  is the control node that processes the signaling between the UEs  104  and the core network  190 . Generally, the AMF  192  provides QoS flow and session management. All user Internet protocol (IP) packets are transferred through the UPF  195 . The UPF  195  provides UE IP address allocation as well as other functions. The UPF  195  is connected to the IP Services  197 . The IP Services  197  may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), a Packet Switch (PS) Streaming (PSS) Service, and/or other IP services. 
     The base station may include and/or be referred to as a gNB, Node B, eNB, an access point, a base transceiver station, a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS), an extended service set (ESS), a transmit reception point (TRP), or some other suitable terminology. The base station  102  provides an access point to the EPC  160  or core network  190  for a UE  104 . Examples of UEs  104  include a cellular phone, a smart phone, a session initiation protocol (SIP) phone, a laptop, a personal digital assistant (PDA), a satellite radio, a global positioning system, a multimedia device, a video device, a digital audio player (e.g., MP3 player), a camera, a game console, a tablet, a smart device, a wearable device, a vehicle, an electric meter, a gas pump, a large or small kitchen appliance, a healthcare device, an implant, a sensor/actuator, a display, or any other similar functioning device. Some of the UEs  104  may be referred to as IoT devices (e.g., parking meter, gas pump, toaster, vehicles, heart monitor, etc.). The UE  104  may also be referred to as a station, a mobile station, a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communications device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, or some other suitable terminology. In some scenarios, the term UE may also apply to one or more companion devices such as in a device constellation arrangement. One or more of these devices may collectively access the network and/or individually access the network. 
     Referring again to  FIG.  1   , in certain aspects, the UE  104  may include an update rate adaptation component  198  that may be configured to receive, from a wireless device, an indication enabling the radar measurement sharing with the wireless device; receive a first set of configuration parameters for the radar measurement sharing; perform a radar measurement based on the first set of configuration parameters and network state information; and transmit, at a first radar measurement transmission rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement transmissions. In certain aspects, the base station  180  may include a collaborative radar component  199  that may be configured to select a first set of one or more UEs from a plurality of UEs for the radar measurement sharing; transmit, to each UE in the first set of one or more UEs, an indication enabling the radar measurement sharing; and receive, from each UE in the first set of one or more UEs, a radar measurement transmission based on a radar measurement performed at a corresponding UE. Although the following description may be focused on 5G NR, the concepts described herein may be applicable to other similar areas, such as LTE, LTE-A, CDMA, GSM, and other wireless technologies. 
       FIG.  2 A  is a diagram  200  illustrating an example of a first subframe within a 5G NR frame structure.  FIG.  2 B  is a diagram  230  illustrating an example of DL channels within a 5G NR subframe.  FIG.  2 C  is a diagram  250  illustrating an example of a second subframe within a 5G NR frame structure.  FIG.  2 D  is a diagram  280  illustrating an example of UL channels within a 5G NR subframe. The 5G NR frame structure may be frequency division duplexed (FDD) in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for either DL or UL, or may be time division duplexed (TDD) in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for both DL and UL. In the examples provided by  FIGS.  2 A,  2 C , the 5G NR frame structure is assumed to be TDD, with subframe 4 being configured with slot format 28 (with mostly DL), where D is DL, U is UL, and F is flexible for use between DL/UL, and subframe 3 being configured with slot format 1 (with all UL). While subframes 3, 4 are shown with slot formats 1, 28, respectively, any particular subframe may be configured with any of the various available slot formats 0-61. Slot formats 0, 1 are all DL, UL, respectively. Other slot formats 2-61 include a mix of DL, UL, and flexible symbols. UEs are configured with the slot format (dynamically through DL control information (DCI), or semi-statically/statically through radio resource control (RRC) signaling) through a received slot format indicator (SFI). Note that the description infra applies also to a 5G NR frame structure that is TDD. 
       FIGS.  2 A- 2 D  illustrate a frame structure, and the aspects of the present disclosure may be applicable to other wireless communication technologies, which may have a different frame structure and/or different channels. A frame (10 ms) may be divided into 10 equally sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include mini-slots, which may include 7, 4, or 2 symbols. Each slot may include 14 or 12 symbols, depending on whether the cyclic prefix (CP) is normal or extended. For normal CP, each slot may include 14 symbols, and for extended CP, each slot may include 12 symbols. The symbols on DL may be CP orthogonal frequency division multiplexing (OFDM) (CP-OFDM) symbols. The symbols on UL may be CP-OFDM symbols (for high throughput scenarios) or discrete Fourier transform (DFT) spread OFDM (DFT-s-OFDM) symbols (also referred to as single carrier frequency-division multiple access (SC-FDMA) symbols) (for power limited scenarios; limited to a single stream transmission). The number of slots within a subframe is based on the CP and the numerology. The numerology defines the subcarrier spacing (SCS) and, effectively, the symbol length/duration, which is equal to 1/SCS. 
     
       
         
           
               
               
               
               
             
               
                   
                   
               
               
                   
                   
                 SCS 
                   
               
               
                   
                 μ 
                 Δf = 2 μ  · 15[kHz] 
                 Cyclic prefix 
               
               
                   
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
            
               
                   
                 0 
                 15 
                 Normal 
               
               
                   
                 1 
                 30 
                 Normal 
               
               
                   
                 2 
                 60 
                 Normal, 
               
               
                   
                   
                   
                 Extended 
               
               
                   
                 3 
                 120 
                 Normal 
               
               
                   
                 4 
                 240 
                 Normal 
               
               
                   
                   
               
            
           
         
       
     
     For normal CP (14 symbols/slot), different numerologies μ 0 to 4 allow for 1, 2, 4, 8, and 16 slots, respectively, per subframe. For extended CP, the numerology 2 allows for 4 slots per subframe. Accordingly, for normal CP and numerology μ, there are 14 symbols/slot and 2 μ  slots/subframe. The subcarrier spacing may be equal to 2 μ *15 kHz, where μ is the numerology 0 to 4. As such, the numerology μ=0 has a subcarrier spacing of 15 kHz and the numerology μ=4 has a subcarrier spacing of 240 kHz. The symbol length/duration is inversely related to the subcarrier spacing.  FIGS.  2 A- 2 D  provide an example of normal CP with 14 symbols per slot and numerology μ=2 with 4 slots per subframe. The slot duration is 0.25 ms, the subcarrier spacing is 60 kHz, and the symbol duration is approximately 16.67 μs. Within a set of frames, there may be one or more different bandwidth parts (BWPs) (see  FIG.  2 B ) that are frequency division multiplexed. Each BWP may have a particular numerology and CP (normal or extended). 
     A resource grid may be used to represent the frame structure. Each time slot includes a resource block (RB) (also referred to as physical RBs (PRBs)) that extends 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme. 
     As illustrated in  FIG.  2 A , some of the REs carry reference (pilot) signals (RS) for the UE. The RS may include demodulation RS (DM-RS) (indicated as R for one particular configuration, but other DM-RS configurations are possible) and channel state information reference signals (CSI-RS) for channel estimation at the UE. The RS may also include beam measurement RS (BRS), beam refinement RS (BRRS), and phase tracking RS (PT-RS). 
       FIG.  2 B  illustrates an example of various DL channels within a subframe of a frame. The physical downlink control channel (PDCCH) carries DCI within one or more control channel elements (CCEs) (e.g., 1, 2, 4, 8, or 16 CCEs), each CCE including six RE groups (REGs), each REG including 12 consecutive REs in an OFDM symbol of an RB. A PDCCH within one BWP may be referred to as a control resource set (CORESET). A UE is configured to monitor PDCCH candidates in a PDCCH search space (e.g., common search space, UE-specific search space) during PDCCH monitoring occasions on the CORESET, where the PDCCH candidates have different DCI formats and different aggregation levels. Additional BWPs may be located at greater and/or lower frequencies across the channel bandwidth. A primary synchronization signal (PSS) may be within symbol  2  of particular subframes of a frame. The PSS is used by a UE  104  to determine subframe/symbol timing and a physical layer identity. A secondary synchronization signal (SSS) may be within symbol  4  of particular subframes of a frame. The SSS is used by a UE to determine a physical layer cell identity group number and radio frame timing. Based on the physical layer identity and the physical layer cell identity group number, the UE can determine a physical cell identifier (PCI). Based on the PCI, the UE can determine the locations of the DM-RS. The physical broadcast channel (PBCH), which carries a master information block (MIB), may be logically grouped with the PSS and SSS to form a synchronization signal (SS)/PBCH block (also referred to as SS block (SSB)). The MIB provides a number of RBs in the system bandwidth and a system frame number (SFN). The physical downlink shared channel (PDSCH) carries user data, broadcast system information not transmitted through the PBCH such as system information blocks (SIBs), and paging messages. 
     As illustrated in  FIG.  2 C , some of the REs carry DM-RS (indicated as R for one particular configuration, but other DM-RS configurations are possible) for channel estimation at the base station. The UE may transmit DM-RS for the physical uplink control channel (PUCCH) and DM-RS for the physical uplink shared channel (PUSCH). The PUSCH DM-RS may be transmitted in the first one or two symbols of the PUSCH. The PUCCH DM-RS may be transmitted in different configurations depending on whether short or long PUCCHs are transmitted and depending on the particular PUCCH format used. The UE may transmit sounding reference signals (SRS). The SRS may be transmitted in the last symbol of a subframe. The SRS may have a comb structure, and a UE may transmit SRS on one of the combs. The SRS may be used by a base station for channel quality estimation to enable frequency-dependent scheduling on the UL. 
       FIG.  2 D  illustrates an example of various UL channels within a subframe of a frame. The PUCCH may be located as indicated in one configuration. The PUCCH carries uplink control information (UCI), such as scheduling requests, a channel quality indicator (CQI), a precoding matrix indicator (PMI), a rank indicator (RI), and hybrid automatic repeat request (HARQ) acknowledgment (ACK) (HARQ-ACK) feedback (i.e., one or more HARQ ACK bits indicating one or more ACK and/or negative ACK (NACK)). The PUSCH carries data, and may additionally be used to carry a buffer status report (BSR), a power headroom report (PHR), and/or UCI. 
       FIG.  15    includes diagrams  1500  and  1510  illustrating example aspects of slot structures that may be used for sidelink communication (e.g., between UEs  104 , RSU  107 , etc.). The slot structure may be within a 5G/NR frame structure in some examples. In other examples, the slot structure may be within an LTE frame structure. Although the following description may be focused on 5G NR, the concepts described herein may be applicable to other similar areas, such as LTE, LTE-A, CDMA, GSM, and other wireless technologies. The example slot structure in  FIG.  15    is merely one example, and other sidelink communication may have a different frame structure and/or different channels for sidelink communication. A frame (10 ms) may be divided into 10 equally sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include mini-slots, which may include 7, 4, or 2 symbols. Each slot may include 7 or 14 symbols, depending on the slot configuration. For slot configuration 0, each slot may include 14 symbols, and for slot configuration 1, each slot may include 7 symbols. Diagram  1500  illustrates a single resource block of a single slot transmission, e.g., which may correspond to a 0.5 ms transmission time interval (TTI). A physical sidelink control channel may be configured to occupy multiple physical resource blocks (PRBs), e.g., 10, 12, 15, 20, or 25 PRBs. The PSCCH may be limited to a single sub-channel. A PSCCH duration may be configured to be 2 symbols or 3 symbols, for example. A sub-channel may comprise 10, 15, 20, 25, 50, 75, or 100 PRBs, for example. The resources for a sidelink transmission may be selected from a resource pool including one or more subchannels. As a non-limiting example, the resource pool may include between 1-27 subchannels. A PSCCH size may be established for a resource pool, e.g., as between 10-100% of one subchannel for a duration of 2 symbols or 3 symbols. The diagram  1510  in  FIG.  15    illustrates an example in which the PSCCH occupies about 50% of a subchannel, as one example to illustrate the concept of PSCCH occupying a portion of a subchannel. The physical sidelink shared channel (PSSCH) occupies at least one subchannel. The PSCCH may include a first portion of sidelink control information (SCI), and the PSSCH may include a second portion of SCI in some examples. 
     A resource grid may be used to represent the frame structure. Each time slot may include a resource block (RB) (also referred to as physical RBs (PRBs)) that extends 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme. As illustrated in  FIG.  15   , some of the REs may include control information in PSCCH and some REs may include demodulation RS (DMRS). At least one symbol may be used for feedback.  FIG.  15    illustrates examples with two symbols for a physical sidelink feedback channel (PSFCH) with adjacent gap symbols. A symbol prior to and/or after the feedback may be used for turnaround between reception of data and transmission of the feedback. The gap enables a device to switch from operating as a transmitting device to prepare to operate as a receiving device, e.g., in the following slot. Data may be transmitted in the remaining REs, as illustrated. The data may comprise the data message described herein. The position of any of the data, DMRS, SCI, feedback, gap symbols, and/or LBT symbols may be different than the example illustrated in  FIG.  15   . Multiple slots may be aggregated together in some aspects. 
       FIG.  3    is a block diagram  300  of a first wireless communication device  310  in communication with a second wireless communication device  350 . As illustrated in  FIG.  3   , one or more of the devices may include a radar component  301 . As an example,  FIG.  3    illustrates the device  350  including a radar component. In some aspects, the wireless communication may be based on sidelink. In some examples, the devices  310  and  350  may communicate based on V2X or other D2D communication. The sidelink communication may be based on a PC5 interface, in some aspects. The devices  310  and the  350  may comprise a UE, an RSU, a base station, etc. In some aspects, the wireless communication may be based on an access link, e.g., and may include Uu communication. For example, the device  310  may be a base station, and the device  350  may be a UE, in some aspects. 
     Packets may be provided to a controller/processor  375  that implements layer 3 and layer 2 functionality. In the DL, IP packets from the EPC  160  may be provided to a controller/processor  375 . The controller/processor  375  implements layer 3 and layer 2 functionality. Layer 3 includes a radio resource control (RRC) layer, and layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a medium access control (MAC) layer. The controller/processor  375  provides RRC layer functionality associated with broadcasting of system information (e.g., MIB, SIBs), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), inter radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression/decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs), error correction through ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs), re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization. 
     The transmit (TX) processor  316  and the receive (RX) processor  370  implement layer 1 functionality associated with various signal processing functions. Layer 1, which includes a physical (PHY) layer, may include error detection on the transport channels, forward error correction (FEC) coding/decoding of the transport channels, interleaving, rate matching, mapping onto physical channels, modulation/demodulation of physical channels, and MIMO antenna processing. The TX processor  316  handles mapping to signal constellations based on various modulation schemes (e.g., binary phase-shift keying (BPSK), quadrature phase-shift keying (QPSK), M-phase-shift keying (M-PSK), M-quadrature amplitude modulation (M-QAM)). The coded and modulated symbols may then be split into parallel streams. Each stream may then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., pilot) in the time and/or frequency domain, and then combined together using an Inverse Fast Fourier Transform (IFFT) to produce a physical channel carrying a time domain OFDM symbol stream. The OFDM stream is spatially precoded to produce multiple spatial streams. Channel estimates from a channel estimator  374  may be used to determine the coding and modulation scheme, as well as for spatial processing. The channel estimate may be derived from a reference signal and/or channel condition feedback transmitted by the device  350 . Each spatial stream may then be provided to a different antenna  320  via a separate transmitter  318  TX. Each transmitter  318  TX may modulate a radio frequency (RF) carrier with a respective spatial stream for transmission. 
     At the device  350 , each receiver  354  RX receives a signal through its respective antenna  352 . Each receiver  354  RX recovers information modulated onto an RF carrier and provides the information to the receive (RX) processor  356 . The TX processor  368  and the RX processor  356  implement layer 1 functionality associated with various signal processing functions. The RX processor  356  may perform spatial processing on the information to recover any spatial streams destined for the device  350 . If multiple spatial streams are destined for the device  350 , they may be combined by the RX processor  356  into a single OFDM symbol stream. The RX processor  356  then converts the OFDM symbol stream from the time-domain to the frequency domain using a Fast Fourier Transform (FFT). The frequency domain signal comprises a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier, and the reference signal, are recovered and demodulated by determining the most likely signal constellation points transmitted by the device  310 . These soft decisions may be based on channel estimates computed by the channel estimator  358 . The soft decisions are then decoded and deinterleaved to recover the data and control signals that were originally transmitted by the device  310  on the physical channel. The data and control signals are then provided to the controller/processor  359 , which implements layer 3 and layer 2 functionality. 
     The controller/processor  359  can be associated with a memory  360  that stores program codes and data. The memory  360  may be referred to as a computer-readable medium. In the UL, the controller/processor  359  provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, and control signal processing to recover IP packets from the EPC  160 . The controller/processor  359  is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations. 
     Similar to the functionality described in connection with the DL transmission by the device  310 , the controller/processor  359  provides RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting; PDCP layer functionality associated with header compression/decompression, and security (ciphering, deciphering, integrity protection, integrity verification); RLC layer functionality associated with the transfer of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization. 
     Channel estimates derived by a channel estimator  358  from a reference signal or feedback transmitted by the device  310  may be used by the TX processor  368  to select the appropriate coding and modulation schemes, and to facilitate spatial processing. The spatial streams generated by the TX processor  368  may be provided to different antenna  352  via separate transmitters  354  TX. Each transmitter  354  TX may modulate an RF carrier with a respective spatial stream for transmission. 
     The UL transmission is processed at the device  310  in a manner similar to that described in connection with the receiver function at the device  350 . Each receiver  318  RX receives a signal through its respective antenna  320 . Each receiver  318  RX recovers information modulated onto an RF carrier and provides the information to a RX processor  370 . 
     The controller/processor  375  can be associated with a memory  376  that stores program codes and data. The memory  376  may be referred to as a computer-readable medium. In the UL, the controller/processor  375  provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, control signal processing to recover IP packets from the device  350 . IP packets from the controller/processor  375  may be provided to the EPC  160 . The controller/processor  375  is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations. 
     At least one of the TX processor  368 , the RX processor  356 , and the controller/processor  359  may be configured to perform aspects in connection with the update rate adaptation component  198  described in connection with  FIG.  1   . 
     At least one of the TX processor  316 , the RX processor  370 , and the controller/processor  375  may be configured to perform aspects in connection with the collaborative radar component  199  described in connection with  FIG.  1   . 
     For some aspects of wireless communication, radar-based sensing may provide information about obstacles and/or objects in an environment. In some aspects, a radar-capable device (e.g., a UE, a vehicle, a base station, an RSU, etc.), may perform radar measurements to obtain information about a region in a line-of-sight (LoS) associated with the radar-capable device. The radar measurements and identification of obstacles and/or objects in the environment may be used to improve wireless communication. In some aspects, the radar measurements may be used to improve cellular connectivity. 
     In some aspects, an awareness of the environment outside the LoS region associated with the radar-capable device, or a network node responsible for aggregating radar measurement information for a JCR application, may allow the radar-capable device (or the network node) to find available beam directions that may reach a UE and/or a vehicle. However, having multiple radar-capable devices transmit a report regarding a set of radar measurements to a network node at a preconfigured rate may result in network congestion. For example, in scenarios with dense concentrations of devices, having each device transmit at a maximum rate may cause congestion. As presented herein, in some aspects, a network node may select a subset of radar-capable devices such that the selected subset of radar-capable devices provides radar measurement information associated with different locations and a different LoS that represents a view of a region-of-interest with a threshold level of accuracy and/or coverage. Additionally, the selected subset of radar-capable devices may be provided a configuration for a radar measurement transmission rate calculation at each of the radar-capable devices in the subset of radar-capable devices. Selecting the subset of radar-capable devices and providing the configuration for the radar measurement transmission rate calculation may reduce network congestion associated with the JCR application (e.g., a radar measurement sharing application). 
     Example aspects of radar detection are described in connection with  FIG.  14    below. A radar component  301 , which may also be referred to as a radar device, as described in connection with  FIG.  3    and/or a radar-capable device as described in connection with  FIG.  4   , may transmit a radar transmission (e.g., which may also be referred to as radar waves, radar waveform, radar pulses, and/or radar signals, etc.) and measure reflections of the radar transmission to detect physical objects or physical surrounding.  FIG.  14    is a diagram  1400  illustrating an example of frequency modulated continuous wave (FMCW) signals generated from a radar device  301  (e.g., an FMCW radar) that may be used to measure for a beam blockage in accordance with various aspects of the present disclosure. The radar device  301  may detect an object  1420  by transmitting a set of radar transmissions, which may be a set of chirp signals (or may also be referred to as a pulse signals), where each of the chirp signals may have a frequency that varies linearly (e.g., have a frequency sweeping) over a fixed period of time (e.g., over a sweep time) by a modulating signal. For example, as shown by the diagram  1400 , a transmitted chirp  1402  may have a starting frequency at  1404  of a sinusoid. Then the frequency may be gradually (e.g., linearly) increased on the sinusoid until it reaches the highest frequency at  1406  of the sinusoid, and then the frequency of the signal may return to  1408  and another chirp  1410  may be transmitted in the same way. In other words, each chirp may include an increase in the frequency (e.g., linearly) and a drop in the frequency, such that the radar device  301  may transmit chirps sweeping in frequency. 
     After one or more chirps (e.g., chirps  1402 ,  1410 ,  1412 , etc.) are transmitted by the radar device  301 , the transmitted chirps may reach the object  1420  and reflect back to the radar device  301 , such as shown by the reflected chirps  1414 ,  1416 , and  1418 , which may correspond to the transmitted chirps  1402 ,  1410 , and  1412 , respectively. As there may be a distance between the radar device  301  and the object  1420  and/or it may take time for a transmitted chirp to reach the object  1420  and reflect back to the radar device  301 , a delay may exist between a transmitted chirp and its corresponding reflected chirp. The delay may be proportional to a range between the radar device  301  and the object  1420  (e.g., the further the target, the larger the delay and vice versa). Thus, the radar device  301  may be able to measure or estimate a distance between the radar device  301  and the object  1420  based on the delay. However, in some examples, it may not be easy for some devices to measure or estimate the distance based on the delay between a transmitted chirp and a reflected chirp. 
     In other examples, as an alternative, the radar device  301  may measure a difference in frequency between the transmitted chirp and the reflected chirp, which may also be proportional to the distance between the radar device  301  and the object  1420 . In other words, as the frequency difference between the reflected chirp and the transmitted chirp increases with the delay, and the delay is linearly proportional to the range, the distance of the object  1420  from the radar device  301  may also be determined based on the difference in frequency. Thus, the reflected chirp from the object may be mixed with the transmitted chirp and down-converted to produce a beat signal (f b ) which may be linearly proportional to the range after demodulation. For example, the radar device  301  may determine a beat signal  1422  by mixing the transmitted chirp  1402  and its corresponding reflected chirp  1414 . In some examples, a radar device may also be used to detect the velocity and direction of a using the FMCW. For example, an FMCW receiver may be able to identify the beat frequency/range based on a range spectrum. The FMCW receiver may also be able to identify the velocity based on a Doppler spectrum and/or the direction based on a direction of arrival (DoA) spectrum with multiple chirps. 
       FIG.  4    illustrates an example JCR application involving an RSU  401  and a radar-capable vehicle  402 .  FIG.  4    includes a first diagram  410 , a second diagram  420 , and a third diagram  430  illustrating a same region-of-interest  440 . Diagrams  410 ,  420 , and  430  further illustrate a set of vehicles (e.g., including vehicles  402 ,  404 ,  406 ,  408 , and  409 ) in the region-of-interest. The vehicles (e.g., vehicles  402 ,  404 ,  406 ,  408 , and  409 ) may be radar-capable, e.g., vehicle  402 , vehicle  406 , and vehicle  409 , or may not be radar-capable, e.g., vehicle  404  and vehicle  408 . The radar devices (e.g. radar devices  403  and  405 ) associated with the vehicles (e.g., vehicles  402  and  406 ) may be active (e.g., radar device  403 ) or inactive (e.g., radar device  405 ) as described below in relation to  FIGS.  5  and  6   . Although  FIG.  4    illustrates an example involving a vehicular setting, the aspects presented herein are not limited to vehicular settings, and may be applied for other devices that have the capability to perform radar measurements and transmit a report to a requesting device, e.g., the RSU  401 . Among other examples, the device may include a UE, a vulnerable road user (VRU). Similarly, the aspects described in connection with  FIG.  4    are not limited to an RSU and the device that requests the radar information may be an RSU, a base station, an IAB node, another UE, etc. 
     Diagram  410  illustrates a set of radar information collected by the radar-capable RSU  401  performing a radar measurement associated with a radar beam  401   a . The RSU  401  may determine a portion of the environment from measurement of radar signals transmitted at the RSU. Radar information  407  may be indicated by the solid lines in the diagram  410  illustrate the surfaces/presence of physical objects that may be identified by the radar measurement at the RSU  401 . As illustrated in diagram  410 , the radar information  407  collected by the RSU  401  may not include information for a set of vehicles (e.g., including vehicle  402  and vehicle  406 ) that are not in a LoS  401   b  of the RSU  401 , and may not include information on sides of the vehicles detected by the RSU. 
     Diagram  420  illustrates a set of radar information  417  collected by the radar-capable vehicle  402  performing a radar measurement of reflections  419   b  of a radar signal  419   a  transmitted at the vehicle  402 . In some aspects, radar signals may be transmitted at multiple transmission points associated with the vehicle. In other aspects, the radar signal may be from a single transmission point. In some aspects, the different transmission points may be considered as radar beams  413   a ,  413   b ,  413   c , and  413   d  or directions for the radar signal. In some aspects, radar measurements may be taken using a subset of the transmission points or directions (e.g., using radar beams  413   b ,  413   c , and  413   d , but not  413   a  that may provide information regarding objects outside of the region-of-interest  440 ). The radar-capable vehicle  402  may determine physical objects, or surfaces (e.g., radar information  417 ) of physical objects that are not detected by the RSU  401  in the diagram  410  because they are not in the LoS  401   b  of the RSU  401 . For example, the radar capable vehicle  402  may detect a set of bounding boxes or may identify surfaces such as the set of surfaces include in radar information  417  that make up part of a bounding box associated with vehicle  406 . As illustrated in diagram  420 , the radar information  417  collected by the radar-capable vehicle  402  may not include information for a set of vehicles (e.g., vehicle  408 ) that are not in a LoS of the radar-capable vehicle  402 . 
     Diagram  430  illustrates a combination of the radar information  407  collected by the RSU  401  and the radar information  417  collected by the radar-capable vehicle  402 . The combination of the radar information  407  and the radar information  417  represents more comprehensive information about the environment than is detectable solely from either of the radar measurements illustrated in diagrams  410  and  420 . For example, while each of diagrams  410  and  420  illustrate that radar information for at least two vehicles is not captured by each of the radar-capable devices (e.g., vehicles  406  and  409  by RSU  401  or vehicles  408  and  409  by vehicle  402 ), diagram  430  illustrates that there is a single vehicle (e.g., vehicle  409 ) for which data is not captured. Additionally, the information (e.g., bounding boxes and/or surfaces) for at least some of the vehicles (e.g., vehicle  404 ) is improved by combining the radar measurement information from more than one radar-capable device. 
       FIG.  5    is a call flow diagram  500  illustrating a method for radar measurement sharing.  FIG.  5    illustrates a base station (BS)/road side unit (RSU)  502  (or other network node) in communication with a set of radar-sensing-capable UEs  504 ,  506 , and  508 . In some aspects, one or more of the UEs may be associated with a vehicle, e.g., a component of a vehicle, connected to a vehicle, traveling with a vehicle, etc. In other aspects, one or more of the UEs may not be associated with a vehicle. The BS/RSU  502  may receive, at  510 , location information for each of a plurality of UEs that may participate in radar measurement sharing. Location information, in some aspects, is received through at least one of a reflection of a radar signal, a sidelink message, or a collaborative mapping based on shared information from at least one additional device. The location may be identified as a latitude and longitude (e.g., a global positioning system (GPS)), a position relative to the BS/RSU  502 , or a zone-based location. 
     The BS/RSU  502  may then select, at  512 , a first set of one or more UEs from a plurality of UEs (e.g., including the UEs  504 ,  506 , and  508 ) for the radar measurement sharing. Selecting the first set of one or more UEs may include selecting a set of UEs that are separated by at least a threshold distance from one or more of a network node (e.g., the BS/RSU  502 ) or from another UE in the first set of one or more UEs. For example, the BS/RSU  502  may select UE  504  and UE  508  to participate in radar measurement sharing. The first set of UEs may be selected to reduce a number of radar measurement sharing transmissions used to provide a more complete set of radar information (e.g., bounding boxes associated with a set of vehicles within a particular distance of the BS/RSU  520 ) than can be derived based on the BS/RSU measurements alone. As described above in relation to  FIG.  4    and as will be described below in relation to  FIG.  6   , by selecting a subset of radar-capable vehicles in different locations and with different lines-of-sight a set of bounding boxes for most (or all) of the vehicles on the road can be generated at the BS/RSU  401 / 601  while reducing the number of radar measurement sharing transmissions compared to enabling radar measurement sharing at all the radar-capable devices in the area. 
     Based on the selection, at  512 , of the first set of one or more UEs for the radar measurement sharing, the BS/RSU  502  may transmit, and the UEs  504  and  508  may receive, an indication enabling the radar measurement sharing  514  to each of the UEs in the first set of one or more UEs (e.g., UE  504  and UE  508 ). The BS/RSU  502  may further transmit an indication disabling radar measurement sharing  516  to each UE in a second set of one or more UEs that are not in the first set of one or more UEs. The indications  514  and  516  may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement sharing. 
     In addition to transmitting the indication enabling the radar measurement sharing  514 , the BS/RSU  502  may also transmit, and the UEs  504  and  508  may receive, a first set of configuration parameters  518 . The first set of configuration parameter  518  may include, in some aspects, a minimum radar measurement transmission rate, a maximum radar measurement transmission rate, a priority associated with the radar measurement transmission, a frequency range for the radar measurement transmission, a data rate, or a modulation and coding scheme associated with the radar measurement transmission. The minimum radar measurement transmission rate and the maximum radar measurement transmission rate may define a range of radar measurement transmission rates (e.g., update rates) at which the UEs with radar measurement sharing enabled (e.g., UEs  504  and  508 ) may transmit radar measurement data to the BS/RSU  502 . The first set of configuration parameters  518  may be based on a set of network state parameters including at least one of a mean computation time per radar measurement transmission, or an amount of computation power for processing the radar measurement transmission at the BS/RSU  502 . 
     Based on the indication enabling radar measurement sharing  514 , the first set of configuration parameters  518 , and network state information, the UE  504  may determine, at  520 , a local configuration for transmitting radar measurement transmissions to the BS/RSU  502 . Similarly, the UE  508  may determine, at  522 , a local configuration for transmitting radar measurement transmissions to the BS/RSU  502  based on the indication enabling radar measurement sharing  514 , the first set of configuration parameters  518 , and the network state information. The local configurations for transmitting radar measurement transmissions to the BS/RSU  702  may include a radar measurement transmission rate. The network state information may include a measured congestion. The measure of congestion, in some aspects is at least one of a measured reference signal received power (RSRP), a channel busy ratio (CBR), a first number of UEs communicating with the wireless device (e.g., the BS/RSU  502 ), a second number of UEs participating in the radar measurement sharing, or a packet delay associated with communication between the UE and the wireless device (e.g., the BS/RSU  502 ). 
     In some aspects, the local configuration may further be determined based on a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. For example, a vehicle moving at a higher (or lower) speed may determine to use a higher (or lower) radar measurement transmission rate (e.g., an update rate) such that radar measurement information is transmitted from positions that are separated by a distance within a range of distances between an upper threshold distance and a lower threshold distance. The threshold distance, in some aspects, may be based on the radar sensing precision or the radar sensing accuracy of the radar system associated with the UE. For example, for a radar system with a precision of ±10 centimeters and an accuracy of ±30 centimeters, the threshold distance range may be between 10 centimeters and 30 centimeters such that radar measurement transmissions rate does not result in updates that reflect changes that are smaller than the radar precision and/or the radar accuracy. 
     After determining, at  520  and  522 , the local configuration for transmitting radar measurement transmissions to the BS/RSU  502 , the UE  504  and the UE  508  may transmit, and the BS/RSU  502  may receive, radar measurements based on the local configuration  524 . The radar measurements based on the local configuration  524  may be transmitted by the UE  504  and the UE  508  at different rates. As discussed in relation to the determination at  520  and  522 , the different transmission rates (update rates), in some aspects, are based on at least one of a measured congestion (or other network state information), a speed of the UE, a radar sensing precision of a radar system associated with the UE, or a radar sensing accuracy of a radar system associated with the UE. The radar measurements based on the local configuration  524  received from a particular UE may include bounding box information for objects detected by a radar system associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
     The BS/RSU  502 , at  526 , may generate mapping data (e.g., an environment map) based on the radar measurements based on the local configuration  524  received from a plurality of UEs (e.g., UEs  504  and  508 ). For example, the BS/RSU  502  may receive information regarding a set of bounding boxes for objects (e.g., vehicles) identified by radar systems at each of a plurality of UEs (e.g., UE  504  and/or  508 ) and combine them into aggregated mapping data including the sets of bounding boxes identified by the BS/RSU  502  and each of the plurality of UEs (e.g., UEs  504  and/or  508 ). For example, referring to  FIG.  4   , based on receiving radar measurement information from UE  402 , the RSU  401  may generate the mapping data reflected in diagram  430  by combining the radar information  407  and the radar information  417 . Referring to  FIG.  6    below, the RSU  601  may generate the mapping data illustrated in diagram  640  based on radar measurements performed at the RSU  601  (e.g., illustrated in diagram  620 ) and radar measurement information received from the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  (e.g., illustrated in diagram  630 ). 
     Based on changing conditions, e.g., changing locations of the radar-capable vehicles or a changing network state, the BS/RSU  502  may determine a second, updated set of configuration parameters. The BS/RSU  502  may transmit, and enabled UEs (e.g., the UE  504  and the UE  508 ) may receive, updated configuration parameters  528  to UEs. The updated configuration parameters  528  may include an update to the minimum radar measurement transmission rate, the maximum radar measurement transmission rate, the priority associated with the radar measurement transmission, the frequency range for the radar measurement transmission, the data rate, or the modulation and coding scheme associated with the radar measurement transmission. 
     Based on the indication enabling radar measurement sharing  514 , the second, updated set of configuration parameters  528 , and current network state information, the UE  504  may determine, at  530 , an updated local configuration for transmitting radar measurement transmissions to the BS/RSU  502 . Similarly, the UE  508  may determine, at  532 , an updated local configuration for transmitting radar measurement transmissions to the BS/RSU  502  based on the indication enabling radar measurement sharing  514 , the updated, second set of configuration parameters  528 , and the current network state information. The current network state information may include a current measured congestion. The current measure of congestion, in some aspects is at least one of a measured RSRP, a CBR, a first number of UEs communicating with the wireless device (e.g., the BS/RSU  502 ), a second number of UEs participating in the radar measurement sharing, or a packet delay associated with communication between the UE and the wireless device (e.g., the BS/RSU  502 ). In some aspects, the local configuration may further be determined based on a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE as discussed above in relation to the determinations  520  and  522 . 
     After determining, at  530  and  532 , the local configuration for transmitting radar measurement transmissions to the BS/RSU  502 , the UE  504  and the UE  508  may transmit, and the BS/RSU  502  may receive, radar measurements based on the local configuration  534 . The radar measurements based on the updated local configuration  534  may be transmitted by the UE  504  and the UE  508  at different rates. As discussed in relation to the determination at  530  and  532 , the different transmission rates (update rates), in some aspects, are based on at least one of a measured congestion (or other network state information), a speed of the UE, a radar sensing precision of a radar system associated with the UE, or a radar sensing accuracy of a radar system associated with the UE. The radar measurements based on the updated local configuration  534  received from a particular UE may include bounding box information for objects detected by a radar system associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
       FIG.  6    illustrates an example JCR system in which multiple radar-capable vehicles (e.g., vehicles  603 ,  605 ,  607 ,  609 , and  611 ) participate in radar measurement sharing and/or reporting. As described in relation to the selection, at  512 , of  FIG.  5   , the RSU  601  may select a first set of radar-capable vehicles (e.g., vehicles  603 ,  605 ,  607 ,  609 , and  611 ) for which to enable radar measurement sharing. Diagram  610  illustrates RSU  601  and a set of radar-capable vehicles (including vehicles  603 ,  605 ,  607 ,  609 , and  611 ) in a region-of-interest  650  including an intersection. Diagram  620  illustrates a set of surfaces (including surface  613 ) in the region-of-interest  650  identified by a radar measurement performed by the RSU  601  based on the vehicles illustrated in diagram  610 . Diagram  630  illustrates a set of surfaces (including surface  615 ) in the region-of-interest  650  identified by radar measurements performed by the set of radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  based on the vehicles illustrated in diagram  610 . In some aspects, each radar-capable vehicle additionally identifies a bounding box associated with the radar-capable vehicle (e.g., bounding box  617  associated with radar-capable vehicle  611 ). 
     Diagram  610  illustrates that the selected radar-capable vehicles (e.g., radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611 ) may be separated by at least a threshold distance (indicated by thresholds  603   a ,  605   a ,  607   a ,  609   a , and  611   a ) from one or more of a network node (e.g., the RSU  601 ) or from another vehicle (e.g., UE) in the first set of one or more radar-capable vehicles (e.g., UEs)  603 ,  605 ,  607 ,  609 , and  611 . In some aspects, a threshold distance may be applied to reduce redundant information, while in some aspects, no threshold distance (or a threshold distance equal to zero) is applied. The first set of radar-capable vehicles may be identified based on location information received for each of the vehicles (e.g., UEs) associated with the region-of interest. The location information may be received via at least one of a reflection of a radar signal, a sidelink message, or a collaborative mapping based on shared information from at least one additional device (e.g., vehicle, UE, RSU, base station, etc.). 
     Diagram  640  illustrates combined radar measurement information based on the radar information collected by the RSU  601  as illustrated in diagram  620  and the radar information collected by the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  as illustrated in diagram  630 . In other aspects, a smaller or larger threshold distance between vehicles and/or UEs may be used such that a larger or smaller number of vehicles are enabled for radar measurement sharing to provide more or less detailed radar measurement information. The threshold distance may be determined based on a set of network state parameters including at least one of a mean computation time per radar measurement transmission, or an amount of computation power for processing the radar measurement transmission. 
       FIG.  7    is a call flow diagram  700  illustrating a UE  704  updating a local radar measurement transmission configuration based on updated network state information. As described above in relation to  FIG.  5   , the BS/RSU  702  may transmit, and the UE  704  may receive, an indication enabling the radar measurement sharing  510 . The indication  510  may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement sharing. 
     In addition to transmitting the indication enabling the radar measurement sharing  710 , the BS/RSU  702  may also transmit, and the UE  704  may receive, a first set of configuration parameters  712 . The first set of configuration parameter  712  may include, in some aspects, a minimum radar measurement transmission rate, a maximum radar measurement transmission rate, a priority associated with the radar measurement transmission, a frequency range for the radar measurement transmission, a data rate, or a modulation and coding scheme associated with the radar measurement transmission. The minimum radar measurement transmission rate and the maximum radar measurement transmission rate may define a range of radar measurement transmission rates (e.g., update rates) at which the UEs with radar measurement sharing enabled (e.g., UE  704 ) may transmit radar measurement data to the BS/RSU  702 . The first set of configuration parameters  712  may be based on a set of network state parameters including at least one of a mean computation time per radar measurement transmission, or an amount of computation power for processing the radar measurement transmission at the BS/RSU  702 . 
     The UE  704  may, based on receiving the indication enabling the radar measurement sharing  710 , determine, at  714 , network state information. The network state information may include a measured congestion. The measure of congestion, in some aspects is at least one of a measured RSRP, a CBR, a first number of UEs communicating with the wireless device (e.g., the BS/RSU  702 ), a second number of UEs participating in the radar measurement sharing, or a packet delay associated with communication between the UE and the wireless device (e.g., the BS/RSU  702 ). The UE  704  may also determine, at  714 , additional information related to the radar measurement sharing such as a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. 
     Based on the indication enabling radar measurement sharing  710 , the first set of configuration parameters  712 , and the network state information determined at  714 , the UE  704  may determine, at  716 , a local configuration for transmitting radar measurement transmissions to the BS/RSU  702 . The local configuration for transmitting radar measurement transmissions to the BS/RSU  702  may include a radar measurement transmission rate. The radar measurement transmission rate may be related to a measured congestion such that the radar measurement transmission rate associated with the local configuration for higher (or lower) measured congestion is lower (or higher) within the range of radar measurement transmission rates indicated by the first set of configuration parameters. Additionally, as described above in relation to  FIG.  5   , the local configuration at the UE  704  may further be based on a current speed of the UE  704  and an accuracy or precision of a radar system associated with the UE  704 . 
     After determining, at  716 , the local configuration for transmitting radar measurement transmissions to the BS/RSU  702 , the UE  704  may transmit, and the BS/RSU  702  may receive, radar measurements based on the local configuration  718 . The radar measurements based on the local configuration  718  received from (or transmitted by) the UE  704  may include bounding box information for objects detected by a radar system associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
     The BS/RSU  702  may, as described above in relation to  FIG.  5   , generate mapping data (e.g., an environment map) based on the radar measurements based on the local configuration  718  received from at least UE  704 . For example, the BS/RSU  702  may receive information regarding a set of bounding boxes for objects (e.g., vehicles) identified by radar systems at each of a plurality of UEs. For example, referring to  FIGS.  4  and  6   , based on receiving radar measurement information from UE  402 , the RSU  401  may generate the mapping data reflected in diagram  430  and the RSU  601  may generate the mapping data illustrated in diagram  640  based on radar measurements performed at the RSU  601  (e.g., illustrated in diagram  620 ) and radar measurement information received from the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  (e.g., illustrated in diagram  630 ). 
     The UE  704  may, determine, at  720 , updated network state information. The updated network state information may include at least one of a measured RSRP, a CBR, a first number of UEs communicating with the wireless device (e.g., the BS/RSU  702 ), a second number of UEs participating in the radar measurement sharing, or a packet delay associated with communication between the UE and the wireless device (e.g., the BS/RSU  702 ). The UE  704  may also determine, at  714 , updated additional information related to the radar measurement sharing such as a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. The rate at which the UE  704  determines updated network state information may be indicated in the first set of configuration parameters or may be based on other applications or operations at the UE  704 . For example, an RSRP or a CBR may be measured for sidelink communication with a first frequency and/or the first set of configuration parameters may indicate a second frequency for determining state information. In some aspects, the first set of configuration parameters may include a plurality of different frequencies for updating a plurality of different network state information and/or other information related to the radar measurement sharing based on the speed at which changes to the network state information or other information related to the radar measurement sharing are likely to occur. 
     Based on determining, at  720 , the updated network state information the UE  704  may determine, at  722 , an updated local configuration for transmitting radar measurement transmissions to the BS/RSU  702  based on the first set of configuration parameters  712 , and the network state information determined at  714 . The updated local configuration for transmitting radar measurement transmissions to the BS/RSU  702  may include an updated radar measurement transmission rate. In some aspects, determining, at  722 , the updated local configuration for transmitting radar measurement transmissions may be based on an additional determination that the updated network state information indicates a change from the network state information determined at  714  that is above a threshold. For example, based on detecting an increase (or decrease) in a measured congestion, the updated radar measurement transmission rate for transmitting radar measurement transmissions to the BS/RSU  702  may be decreased (or increased) from the radar measurement transmission rate determined at  716 . Similarly, the updated radar measurement transmission rate may be decreased (or increased) from the radar measurement transmission rate associated with the local configuration determined at  716  based on a decreased (or increased) speed associated with the UE  704 . 
     After determining, at  722 , the local configuration for transmitting radar measurement transmissions to the BS/RSU  702 , the UE  704  may transmit, and the BS/RSU  702  may receive, radar measurements based on the updated local configuration  724 . The radar measurements based on the updated local configuration  724  received from (or transmitted by) the UE  704  may include bounding box information for objects detected by a radar system associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
     The BS/RSU  702  may, as described above in relation to  FIG.  5   , generate mapping data (e.g., an environment map) based on the radar measurements based on the updated local configuration  724  received from at least UE  704 . For example, the BS/RSU  702  may receive information regarding a set of bounding boxes for objects (e.g., vehicles) identified by radar systems at each of a plurality of UEs. For example, referring to  FIGS.  4  and  6   , based on receiving radar measurement information from UE  402 , the RSU  401  may generate the mapping data reflected in diagram  430  and the RSU  601  may generate the mapping data illustrated in diagram  640  based on radar measurements performed at the RSU  601  (e.g., illustrated in diagram  620 ) and radar measurement information received from the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  (e.g., illustrated in diagram  630 ). 
       FIG.  8    is a flowchart  800  of a method of wireless communication. The method may be performed by a base station (or RSU) (e.g., the base station  102 / 180 ,  502 , or  702 ; the RSU  401 ,  502 ,  601 , or  702 ; the apparatus  1302 ). At  802 , the base station may transmit, and each UE in a first set of one or more UEs may receive, an indication to report at least one radar measurement (e.g., an indication enabling the radar measurement sharing at the UE). In some aspects, the indication enabling the radar measurement sharing at the UE may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement sharing. For example, referring to  FIGS.  5  and  7   , the BS/RSU  502  (and the BS/RSU  702 ) may transmit the indication enabling the radar measurement sharing  514  (and  710 ) to the first set of UEs (e.g., the UEs  504  and  508  or UE  704 ). For example,  802  may be performed by radar-capable-device selection component  1340 . 
     In some aspects, transmitting, at  802 , the indication to report at least one radar measurement (e.g., the indication enabling the radar measurement sharing at the UE) may include transmitting, to each UE in the first set of one or more UEs, a first set of configuration parameters for the radar measurement reporting. The first set of configuration parameter may include, in some aspects, a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the radar measurement report, a frequency range associated with a transmission of the radar measurement report, a data rate, or a modulation and coding scheme associated with a transmission of the radar measurement report. The minimum radar measurement report rate and the maximum radar measurement report rate may define a range of radar measurement report rates (e.g., update rates) at which the UEs with radar measurement sharing enabled may transmit radar measurement reports (e.g., data) to the base station. The first set of configuration parameters may be based on a set of network state parameters including at least one of a mean computation time per radar measurement report, or an amount of computation power for processing the radar measurement report at the base station. For example, referring to  FIGS.  5  and  7   , the BS/RSU  502  (or  702 ) may transmit a first set of configuration parameters  518  (or  712 ). 
     In some aspects, the base station may select the first set of one or more UEs from a plurality of UEs for a radar measurement sharing (e.g., to participate in a radar measurement sharing operation with the base station). In some aspects, the base station receives location information for each of the plurality of UEs and the selection may be based on the location information. For example, in some aspects, selecting the first set of one or more UEs from the plurality of UEs includes selecting a set of UEs that are separated by at least a threshold distance from one or more of the base station a network node or from another UE in the first set of one or more UEs. The location information may be received through at least one of a reflection of a radar signal, a sidelink message, or a collaborative mapping based on shared information from at least one additional device. For example, referring to  FIGS.  5  and  6   , the BS/RSU  502  or the RSU  601  may select a first set of radar-capable devices (e.g., the UEs  504  and  508  or radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611 ) and, as illustrated in  FIG.  6   , the radar-capable devices may be separated by a threshold distance indicated by threshold  603   a ,  605   a ,  607   a ,  609   a , and  611   a.    
     Finally, at  804 , the base station may receive, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. For example,  804  may be performed by radar measurement sharing component  1342 . The radar measurements transmissions may be received at the base station from different UEs in the first set of UEs at different rates. The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
       FIG.  9    is a flowchart  900  of a method of wireless communication. The method may be performed by a base station (or RSU) (e.g., the base station  102 / 180 ,  502 , or  702 ; the RSU  401 ,  502 ,  601 , or  702 ; the apparatus  1302 ). At  902 , the base station may receive location information for each of a plurality of UEs. The location information may be received through at least one of a reflection of a radar signal, a sidelink message, or a collaborative mapping based on shared information from at least one additional device. For example, referring to  FIG.  5   , the BS/RSU  502  may receive, at  510 , location information for each of a plurality of UEs. For example,  902  may be performed by radar-capable-device selection component  1340 . 
     At  904 , the base station may select a first set of one or more UEs from a plurality of UEs for a radar measurement reporting (e.g., to participate in a radar measurement sharing operation with the base station). For example,  904  may be performed by radar-capable-device selection component  1340 . In some aspects, the base station receives location information for each of the plurality of UEs and the selection may be based on the location information. For example, in some aspects, selecting the first set of one or more UEs from the plurality of UEs includes selecting a set of UEs that are separated by at least a threshold distance from one or more of the base station a network node or from another UE in the first set of one or more UEs. For example, referring to  FIGS.  5  and  6   , the BS/RSU  502  or the RSU  601  may select a first set of radar-capable devices (e.g., the UEs  504  and  508  or radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611 ) and, as illustrated in  FIG.  6   , the radar-capable devices may be separated by a threshold distance indicated by threshold  603   a ,  605   a ,  607   a ,  609   a , and  611   a.    
     At  906 , the base station may transmit, and each UE in the first set of one or more UEs may receive, an indication to report at least one radar measurement (e.g., an indication enabling the radar measurement sharing at the UE). In some aspects, the indication to report at least one radar measurement (e.g., the indication enabling the radar measurement sharing at the UE) may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement reporting. For example, referring to  FIGS.  5  and  7   , the BS/RSU  502  (and the BS/RSU  702 ) may transmit the indication enabling the radar measurement sharing  514  (and  710 ) to the first set of UEs (e.g., the UEs  504  and  508  or UE  704 ). For example,  906  may be performed by radar-capable-device selection component  1340 . 
     The base station, at  908 , may transmit, to each UE in a second set of one or more UEs that are disjoint from (e.g., does not include UEs that are in) the first set of one or more UEs, an additional indication to refrain from reporting radar measurement. In some aspects, the indication to refrain from reporting the radar measurement at the UE may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement reporting. For example, referring to  FIG.  5   , the BS/RSU  502  may transmit the indication disabling the radar measurement sharing  516  to the second set of UEs (e.g., the UE  506 ). For example,  908  may be performed by radar-capable-device selection component  1340 . 
     At  910 , the base station may transmit, to each UE in the first set of one or more UEs, a first set of configuration parameters for the radar measurement reporting. The first set of configuration parameters may include, in some aspects, a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the radar measurement report, a frequency range associated with a transmission of the radar measurement report, a data rate, or a modulation and coding scheme associated with a transmission of the radar measurement report. The minimum radar measurement report rate and the maximum radar measurement report rate may define a range of radar measurement report rates (e.g., update rates) at which the UEs with radar measurement sharing enabled may transmit radar measurement reports (e.g., data) to the base station. The first set of configuration parameters may be based on a set of network state parameters including at least one of a mean computation time per radar measurement report, or an amount of computation power for processing the radar measurement report at the base station. For example, referring to  FIGS.  5  and  7   , the BS/RSU  502  (or  702 ) may transmit a first set of configuration parameters  518  (or  712 ). For example,  910  may be performed by radar-capable-device selection component  1340 . 
     At  912 , the base station may receive, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. For example,  912  may be performed by radar measurement sharing component  1342 . Receiving the radar measurement reports may include receiving a first radar measurement transmission, from a first UE, based on a first (local) configuration for the radar measurement that is based on the first set of configuration parameters, and receiving a second radar measurement transmission, from a second UE, based on a different, second (local) configuration for the radar measurement that is based on the first set of configuration parameters. The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
     At  914 , the base station may generate an environment map based on received radar measurement reports from the first set of one or more UEs. For example,  914  may be performed by mapping component  1344 . For example, the base station may receive information regarding a set of bounding boxes for objects (e.g., vehicles) identified by radar systems at each of the first set of one or more UEs. The base station may aggregate the received radar measurement information from the UEs in the first set of UEs to generate the environmental map. For example, referring to  FIG.  4   , based on receiving radar measurement information from UE  402 , the RSU  401  may generate the mapping data reflected in diagram  430 . Referring to  FIG.  6    below, the RSU  601  may generate the mapping data illustrated in diagram  640  based on radar measurements performed at the RSU  601  (e.g., illustrated in diagram  620 ) and radar measurement information received from the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  (e.g., illustrated in diagram  630 ). 
     At  916 , the base station may transmit, to at least one UE in the first set of one or more UEs, a second, updated set of configuration parameters for a second radar measurement report from the at least one UE. The second, updated set of configuration parameters may include, in some aspects, an update to one or more of the minimum radar measurement report rate, the maximum radar measurement report rate, the priority associated with the radar measurement report, the frequency range associated with a transmission of the radar measurement report, the data rate, or the modulation and coding scheme associated with a transmission of the radar measurement report. The second, updated set of configuration parameters may be based on detecting a change to the set of network state parameters including at least one of a change to a mean computation time per radar measurement report, or a change to an amount of computation power for processing the radar measurement report at the base station. For example, referring to  FIG.  5   , the BS/RSU  502  may transmit the updated configuration parameters  528  to UEs  504  and  508 . For example,  916  may be performed by radar-capable-device selection component  1340 . 
     Finally, at  918 , the base station may receive, from the at least one UE, the second radar measurement report from the at least one UE based on the second, updated set of configuration parameters. For example,  918  may be performed by radar measurement sharing component  1342 . As described above, if the at least one UE includes more than one UE, the radar measurement reports may be received at the base station from different UEs in the first set of UEs at different rates. The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. The radar measurement reports received, at  918 , may be used to generate an environment map as described above in relation to generating, at  914 , the environment map. 
       FIG.  10    is a flowchart  1000  of a method of wireless communication. The method may be performed by a UE (e.g., a radar-capable device or vehicle) (e.g., e.g., the UE  104 ,  504 ,  508 , or  704 ; the radar-capable vehicle  603 ,  605 ,  607 ,  609 , and  611 ; the apparatus  1202 ). At  1002 , the UE may receive, from a wireless device (e.g., a base station), an indication to report a radar measurement to the wireless device (e.g., an indication enabling the radar measurement sharing at the UE). In some aspects, the indication enabling the radar measurement sharing at the UE may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement sharing. For example, referring to  FIGS.  5  and  7   , the UEs  504  and  508  (and the UE  704 ) may receive the indication enabling the radar measurement sharing  514  (and  710 ) from the BS/RSU  502  (and  702 ). For example,  1002  may be performed by radar measurement sharing component  1240 . 
     At  1004 , the UE may receive, from the base station, a first set of configuration parameters for the radar measurement reporting. The first set of configuration parameter may include, in some aspects, a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the radar measurement report, a frequency range associated with a transmission of the radar measurement report, a data rate, or a modulation and coding scheme associated with a transmission of the radar measurement report. The minimum radar measurement report rate and the maximum radar report transmission rate may define a range of radar measurement report rates (e.g., update rates) at which the UEs with radar measurement sharing enabled may transmit radar reports (e.g., data) to the base station. The first set of configuration parameters may be based on a set of network state parameters including at least one of a mean computation time per radar measurement report, or an amount of computation power for processing the radar measurement report at the base station. For example, referring to  FIGS.  5  and  7   , the UEs  504  and  508  (and the UE  704 ) may receive the first set of configuration parameters  518  (and  712 ) from the BS/RSU  502  (and  702 ). 
     At  1006 , the UE may perform a radar measurement based on the first set of configuration parameters and network state information. For example,  1006  may be performed by radar measurement component  1242 . The radar measurement may be performed by one or more devices associated with the UE. In some aspects, the radar measurements may further incorporate additional sensor data in generating radar measurement information. For example, referring to  FIGS.  4  and  6   , the radar-capable vehicle  402  or the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  perform a set of radar measurements identifying radar information  417  including surfaces (e.g., surface  615 ) or bounding boxes  437  or  617 . 
     Finally, at  1008 , the UE may transmit, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement transmissions. For example,  1008  may be performed by radar measurement sharing component  1240 . The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. For example,  1006  may be performed by radar measurement sharing component  1240 . 
       FIG.  11    is a flowchart  1100  of a method of wireless communication. The method may be performed by a UE (e.g., a radar-capable device or vehicle) (e.g., e.g., the UE  104 ,  504 ,  508 , or  704 ; the radar-capable vehicle  603 ,  605 ,  607 ,  609 , and  611 ; the apparatus  1202 ). At  1102 , the UE may receive, from a wireless device (e.g., a base station), an indication to report a radar measurement to the wireless device (e.g., an indication enabling the radar measurement sharing at the UE). In some aspects, the indication enabling the radar measurement sharing at the UE may be included in a unicast, groupcast, or broadcast transmission identifying the UEs to enable and/or disable (e.g., identifying participating UEs) for radar measurement sharing. For example, referring to  FIGS.  5  and  7   , the UEs  504  and  508  (and the UE  704 ) may receive the indication enabling the radar measurement sharing  514  (and  710 ) from the BS/RSU  502  (and  702 ). For example,  1102  may be performed by radar measurement sharing component  1240 . 
     At  1104 , the UE may receive, from the base station, a first set of configuration parameters for the radar measurement reporting. For example,  1104  may be performed by radar measurement sharing component  1240 . The first set of configuration parameter may include, in some aspects, a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the radar measurement report, a frequency range for the radar measurement report, a data rate, or a modulation and coding scheme associated with the radar measurement report. The minimum radar measurement report rate and the maximum radar measurement report rate may define a range of radar measurement report rates (e.g., update rates) at which the UEs with radar measurement sharing enabled may transmit radar reports (e.g., data) to the base station. The first set of configuration parameters may be based on a set of network state parameters including at least one of a mean computation time per radar measurement report, or an amount of computation power for processing the radar measurement report at the base station. For example, referring to  FIGS.  5  and  7   , the UEs  504  and  508  (and the UE  704 ) may receive the first set of configuration parameters  518  (and  712 ) from the BS/RSU  502  (and  702 ). 
     At  1106 , the UE may perform a radar measurement based on the first set of configuration parameters and network state information. For example,  1106  may be performed by radar measurement component  1242 . In order to perform the radar measurement, the UE may determine network state information relating to a measure of congestion including at least one of a measured RSRP, a CBR, a first number of UEs communicating with the wireless device (e.g., the base station), a second number of UEs participating in the radar measurement sharing, or a packet delay associated with communication between the UE and the wireless device (e.g., the base station). The UE may also determine additional information related to the radar measurement sharing such as a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. The radar measurement may be performed by one or more devices associated with the UE. In some aspects, the radar measurements may further incorporate additional sensor data in generating radar measurement information. For example, referring to  FIGS.  4  and  6   , the radar-capable vehicle  402  or the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  perform a set of radar measurements identifying radar information  417  including surfaces (e.g., surface  615 ) or bounding boxes  437  or  617 . 
     At  1108 , the UE may transmit, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. For example,  1108  may be performed by radar measurement sharing component  1240 . The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE. 
     In some aspects the UE may determine, at  1110 , updated network state information including at least a change in the measure of the congestion. For example,  1110  may be performed by radar measurement sharing component  1240 . The updated network state information may include an update to at least one of the measured RSRP, the CBR, the first number of UEs communicating with the wireless device (e.g., a base station), the second number of UEs participating in the radar measurement sharing, or the packet delay associated with communication between the UE and the wireless device (e.g., the base station). The UE may also determine, at  1110 , updated additional information related to the radar measurement sharing such as a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. The rate at which the UE, at  1110 , determines updated network state information may be indicated in the first set of configuration parameters or may be based on other applications or operations at the UE. For example, an RSRP or a CBR may be measured for sidelink communication with a first frequency and/or the first set of configuration parameters may indicate a second frequency for determining state information. In some aspects, the first set of configuration parameters may include a plurality of different frequencies for updating a plurality of different network state information and/or other information related to the radar measurement sharing based on the speed at which changes to the network state information or other information related to the radar measurement sharing are likely to occur. For example, referring to  FIG.  7   , the UE  704  may determine, at  720 , updated network state information. 
     At  1112 , the UE may perform a radar measurement based on the first set of configuration parameters and the updated network state information. For example,  1112  may be performed by radar measurement component  1242 . The radar measurement may be performed by one or more devices associated with the UE. In some aspects, the radar measurements may further incorporate additional sensor data in generating radar measurement information. For example, referring to  FIGS.  4  and  6   , the radar-capable vehicle  402  or the radar-capable vehicles  603 ,  605 ,  607 ,  609 , and  611  perform a set of radar measurements identifying radar information  417  including surfaces (e.g., surface  615 ) or bounding boxes  437  or  617 .
 
Finally, at  1114 , the UE may transmit, at a second radar measurement report rate selected based on the first set of configuration parameters and the updated network state information, a second set of radar measurement transmissions. For example,  1114  may be performed by radar measurement sharing component  1240 . The radar measurements received from a particular UE may include bounding box information for objects detected by a radar system (or other object-detection systems) associated with the particular UE. Bounding box information is one example of radar data that may be transmitted to efficiently identify the location and size of objects, e.g., without sending each point identified by the radar measurements performed at the particular UE.
 
 FIG.  12    is a diagram  1200  illustrating an example of a hardware implementation for an apparatus  1202 . The apparatus  1202  may be a UE, a component of a UE, or may implement UE functionality. In some aspects, the apparatus  1202  may include a cellular baseband processor  1204  (also referred to as a modem) coupled to a cellular RF transceiver  1222 . In some aspects, the apparatus  1202  may further include one or more subscriber identity modules (SIM) cards  1220 , an application processor  1206  coupled to a secure digital (SD) card  1208  and a screen  1210 , a Bluetooth module  1212 , a wireless local area network (WLAN) module  1214 , a Global Positioning System (GPS) module  1216 , or a power supply  1218 . The cellular baseband processor  1204  communicates through the cellular RF transceiver  1222  with the UE  104  and/or BS  102 / 180 . The cellular baseband processor  1204  may include a computer-readable medium/memory. The computer-readable medium/memory may be non-transitory. The cellular baseband processor  1204  is responsible for general processing, including the execution of software stored on the computer-readable medium/memory. The software, when executed by the cellular baseband processor  1204 , causes the cellular baseband processor  1204  to perform the various functions described supra. The computer-readable medium/memory may also be used for storing data that is manipulated by the cellular baseband processor  1204  when executing software. The cellular baseband processor  1204  further includes a reception component  1230 , a communication manager  1232 , and a transmission component  1234 . The communication manager  1232  includes the one or more illustrated components. The components within the communication manager  1232  may be stored in the computer-readable medium/memory and/or configured as hardware within the cellular baseband processor  1204 . The cellular baseband processor  1204  may be a component of the device  350  and may include the memory  360  and/or at least one of the TX processor  368 , the RX processor  356 , and the controller/processor  359 . In one configuration, the apparatus  1202  may be a modem chip and include just the baseband processor  1204 , and in another configuration, the apparatus  1202  may be the entire device (e.g., see  350  of  FIG.  3   ) and include the additional modules of the apparatus  1202 .
 
     The communication manager  1232  includes a radar measurement sharing component  1240  that is configured to receive an indication to report a radar measurement to a wireless device, to receive a first set of configuration parameters for the radar measurement reporting, to determine network state information including at least a measure of congestion, and transmit a first set of radar measurement reports at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, e.g., as described in connection with  1002 ,  1004 ,  1008 ,  1102 ,  1104 ,  1108 ,  1110 , and  1114  of  FIGS.  10  and  11   . The communication manager  1232  further includes a radar measurement component  1242  that receives input in the form of a local configuration for radar measurement sharing from the radar measurement sharing component  1240  and is configured to perform a radar measurement based on the first set of configuration parameters and network state information, e.g., as described in connection with  1006 ,  1106 , and  1112 . 
     The apparatus may include additional components that perform each of the blocks of the algorithm in the flowcharts of  FIGS.  10  and  11   . As such, each block in the flowcharts of  FIGS.  10  and  11    may be performed by a component and the apparatus may include one or more of those components. The components may be one or more hardware components specifically configured to carry out the stated processes/algorithm, implemented by a processor configured to perform the stated processes/algorithm, stored within a computer-readable medium for implementation by a processor, or some combination thereof. 
     As shown, the apparatus  1202  may include a variety of components configured for various functions. In one configuration, the apparatus  1202 , and in particular the cellular baseband processor  1204 , includes means for receiving, from a wireless device, an indication to report a radar measurement to the wireless device. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for receiving a first set of configuration parameters for the radar measurement reporting. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for performing a radar measurement based on the first set of configuration parameters and network state information. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for transmitting, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement transmissions. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for transmitting, to at least one UE in the first set of one or more UEs, a second, updated set of configuration parameters for a second radar measurement report from the at least one UE. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for receiving, from the at least one UE, the second radar measurement report from the at least one UE based on the second, updated set of configuration parameters. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for transmitting, to each UE in a second set of one or more UEs that is disjoint from the first set of one or more UEs, an additional indication to refrain from reporting the radar measurement. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for updating the network state information, the updated network state information comprising at least a change in the measure of the congestion. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for performing a radar measurement based on the first set of configuration parameters and the updated network state information. The apparatus  1202 , and in particular the cellular baseband processor  1204 , may further includes means for transmitting, at a second radar measurement report rate selected based on the first set of configuration parameters and the updated network state information, a second set of radar measurement transmissions. The means may be one or more of the components of the apparatus  1202  configured to perform the functions recited by the means. As described supra, the apparatus  1202  may include the TX Processor  368 , the RX Processor  356 , and the controller/processor  359 . As such, in one configuration, the means may be the TX Processor  368 , the RX Processor  356 , and the controller/processor  359  configured to perform the functions recited by the means. 
       FIG.  13    is a diagram  1300  illustrating an example of a hardware implementation for an apparatus  1302 . The apparatus  1302  may be a base station, a component of a base station, or may implement base station functionality. In some aspects, the apparatus  1202  may include a baseband unit  1304 . The baseband unit  1304  may communicate through a cellular RF transceiver  1322  with the UE  104 . The baseband unit  1304  may include a computer-readable medium/memory. The baseband unit  1304  is responsible for general processing, including the execution of software stored on the computer-readable medium/memory. The software, when executed by the baseband unit  1304 , causes the baseband unit  1304  to perform the various functions described supra. The computer-readable medium/memory may also be used for storing data that is manipulated by the baseband unit  1304  when executing software. The baseband unit  1304  further includes a reception component  1330 , a communication manager  1332 , and a transmission component  1334 . The communication manager  1332  includes the one or more illustrated components. The components within the communication manager  1332  may be stored in the computer-readable medium/memory and/or configured as hardware within the baseband unit  1304 . The baseband unit  1304  may be a component of the device  310  and may include the memory  376  and/or at least one of the TX processor  316 , the RX processor  370 , and the controller/processor  375 . 
     The communication manager  1332  includes a radar-capable-device selection component  1340  that may receive location information for each of a plurality of UEs; select a first set of one or more UEs from a plurality of UEs for a radar measurement reporting based on location information; transmit, to each UE in the first set of one or more UEs, an indication to report at least one radar measurement; transmit, to each UE in a second set of one or more UEs that are not in the first set of one or more UEs, an additional indication to not report the radar measurement, and transmit, to each UE in the first set of one or more UEs, a first set of configuration parameters for the radar measurement reporting, e.g., as described in connection with  802 ,  902 ,  904 ,  906 ,  908 ,  910 , and  916  of  FIGS.  8  and  9   . The communication manager  1332  further includes a radar measurement sharing component  1342  that may receive, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE; e.g., as described in connection with  804 ,  912 , and  918  of  FIGS.  8  and  9   . The communication manager  1332  further includes a mapping component  1344  that may generate an environment map based on received radar measurement reports from the first set of one or more UEs, e.g., as described in connection with  914  of  FIG.  9   . 
     The apparatus may include additional components that perform each of the blocks of the algorithm in the flowcharts of  FIGS.  8  and  9   . As such, each block in the flowcharts of  FIGS.  8  and  9    may be performed by a component and the apparatus may include one or more of those components. The components may be one or more hardware components specifically configured to carry out the stated processes/algorithm, implemented by a processor configured to perform the stated processes/algorithm, stored within a computer-readable medium for implementation by a processor, or some combination thereof. 
     As shown, the apparatus  1302  may include a variety of components configured for various functions. In one configuration, the apparatus  1302 , and in particular the baseband unit  1304 , includes means for selecting a first set of one or more UEs from a plurality of UEs for the radar measurement reporting. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for transmitting, to each UE in the first set of one or more UEs, an indication to report at least one radar measurement. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for receiving, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at the UE in the first set of one of more UEs. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for generating an environment map based on received radar measurement reports from the first set of one or more UEs. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for receiving location information for each of the plurality of UEs, the selecting being based on the location information. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for transmitting, to each UE in the first set of one or more UEs, a first set of configuration parameters for the radar measurement reporting. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for receiving a first radar measurement transmission, from a first UE, based on a first configuration for the radar measurement. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for receiving a second radar measurement transmission, from a second UE, based on a different, second configuration for the radar measurement. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for transmitting, to at least one UE in the first set of one or more UEs, a second, updated set of configuration parameters for a second radar measurement report from the at least one UE. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for receiving, from the at least one UE, the second radar measurement report from the at least one UE based on the second, updated set of configuration parameters. The apparatus  1302 , and in particular the baseband unit  1304 , may further include means for transmitting, to each UE in a second set of one or more UEs that are not in the first set of one or more UEs, an additional indication to not report the radar measurement. The means may be one or more of the components of the apparatus  1302  configured to perform the functions recited by the means. As described supra, the apparatus  1302  may include the TX Processor  316 , the RX Processor  370 , and the controller/processor  375 . As such, in one configuration, the means may be the TX Processor  316 , the RX Processor  370 , and the controller/processor  375  configured to perform the functions recited by the means. 
     It is understood that the specific order or hierarchy of blocks in the processes/flowcharts disclosed is an illustration of example approaches. Based upon design preferences, it is understood that the specific order or hierarchy of blocks in the processes/flowcharts may be rearranged. Further, some blocks may be combined or omitted. The accompanying method claims present elements of the various blocks in a sample order, and are not meant to be limited to the specific order or hierarchy presented. 
     The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but is to be accorded the full scope consistent with the language claims, wherein reference to an element in the singular is not intended to mean “one and only one” unless specifically so stated, but rather “one or more.” Terms such as “if,” “when,” and “while” should be interpreted to mean “under the condition that” rather than imply an immediate temporal relationship or reaction. That is, these phrases, e.g., “when,” do not imply an immediate action in response to or during the occurrence of an action, but simply imply that if a condition is met then an action will occur, but without requiring a specific or immediate time constraint for the action to occur. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects. Unless specifically stated otherwise, the term “some” refers to one or more. Combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof” include any combination of A, B, and/or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof” may be A only, B only, C only, A and B, A and C, B and C, or A and B and C, where any such combinations may contain one or more member or members of A, B, or C. All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims. Moreover, nothing disclosed herein is intended to be dedicated to the public regardless of whether such disclosure is explicitly recited in the claims. The words “module,” “mechanism,” “element,” “device,” and the like may not be a substitute for the word “means.” As such, no claim element is to be construed as a means plus function unless the element is expressly recited using the phrase “means for.” 
     The following aspects are illustrative only and may be combined with other aspects or teachings described herein, without limitation. 
     Aspect 1 is a method for wireless communication including transmitting, to each UE in a first set of one or more UEs, an indication to report at least one radar measurement; and receiving, from each UE in the first set of one or more UEs, a radar measurement report based on a radar measurement performed at a corresponding UE in the first set of one of more UEs. 
     Aspect 2 is the method of aspect 1, further including generating an environment map based on received radar measurement reports from the first set of one or more UEs. 
     Aspect 3 is the method of any of aspects 1 and 2, further including receiving location information for each of a plurality of UEs, the selecting being based on the location information and selecting, based on the received location information, the first set of one or more UEs from the plurality of UEs for the radar measurement reporting. 
     Aspect 4 is the method of any of aspects 1 to 3, where selecting the first set of UEs includes selecting a set of UEs that are separated by at least a threshold distance from one or more of a network node or from another UE in the first set of one or more UEs. 
     Aspect 5 is the method of any of aspects 1 to 4, where the location information is received through at least one of reflection of a radar signal, a sidelink message, or a collaborative mapping based on shared information from at least one additional device. 
     Aspect 6 is the method of any of aspects 1 to 5, further including transmitting, to each UE in the first set of one or more UEs, a first set of configuration parameters for the radar measurement reporting, where the first set of configuration parameters includes at least one of a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the radar measurement report, a frequency range associated with a transmission of the radar measurement transmission, a data rate, or a modulation and coding scheme associated with a transmission of the radar measurement report. 
     Aspect 7 is the method of aspect 6, where receiving, from each UE in the first set of one or more UEs, the radar measurement transmission includes receiving, from a first UE in the first set of one or more UEs, a first radar measurement report based on a first configuration for the radar measurement and receiving, from a second UE in the first set of one or more UEs, a second radar measurement report based on a different, second configuration for the radar measurement. 
     Aspect 8 is the method of any of aspects 6 and 7, where the first set of configuration parameters is based on a set of network state parameters including at least one of a mean computation time per radar measurement report, or an amount of computation power for processing the radar measurement report. 
     Aspect 9 is the method of any of aspects 6 to 8, further including transmitting, to at least one UE in the first set of one or more UEs, a second, updated set of configuration parameters for a second radar measurement report from the at least one UE; and receiving, from the at least one UE, the second radar measurement report from the at least one UE based on the second, updated set of configuration parameters. 
     Aspect 10 is the method of any of aspects 1 to 9, further including transmitting, to each UE in a second set of one or more UEs that is disjoint from the first set of one or more UEs, an additional indication to refrain from reporting the radar measurement. 
     Aspect 11 is the method of any of aspects 1 to 10, where the apparatus is one of a base station, a network node, a RSU, or a UE. 
     Aspect 12 is an method for a radar measurement reporting at a UE including receiving, from a wireless device, an indication to report a radar measurement to the wireless device; receiving a first set of configuration parameters for the radar measurement reporting; performing a radar measurement based on the first set of configuration parameters and network state information; and transmitting, at a first radar measurement report rate selected based on the first set of configuration parameters and the network state information, a first set of radar measurement reports. 
     Aspect 13 is the method of aspect 12, where the first set of configuration parameters includes at least one of a minimum radar measurement report rate, a maximum radar measurement report rate, a priority associated with the first set of radar measurement reports, a frequency range associated with a transmission of the first set of radar measurement reports, a data rate, or a modulation and coding scheme associated with a transmission of the first set of radar measurement reports. 
     Aspect 14 is the method of any of aspects 12 and 13, where the network state information includes a measure of a congestion, where the measure of the congestion includes at least one of a measured RSRP, a CBR, a first number of UEs communicating with the wireless device, a second number of UEs participating in the radar measurement reporting, or a packet delay associated with communication between the UE and the wireless device; and where the first radar measurement report rate is selected based on the measure of the congestion. 
     Aspect 15 is the method of aspect 14, where the first set of configuration parameters for the radar measurement report further includes a set of parameters for determining a radar measurement report rate based on the network state information. 
     Aspect 16 is the method of any of aspects 14 and 15, where the first radar measurement report rate is further based on a speed associated with the UE and at least one of a radar sensing precision or a radar sensing accuracy of a radar system associated with the UE. 
     Aspect 17 is the method of any of aspects 14 to 16, further including updating the network state information, the updated network state information including at least a change in the measure of the congestion; performing a second radar measurement based on the first set of configuration parameters and the updated network state information; and transmitting, at a second radar measurement report rate selected based on the first set of configuration parameters and the updated network state information, a second set of radar measurement reports. 
     Aspect 18 is a is an apparatus for wireless communication including at least one processor coupled to a memory, the memory and the at least one processor configured to implement any of aspects 1 to 17. 
     Aspect 19 is an apparatus for wireless communication including means for implementing any of aspects 1 to 17. 
     Aspect 20 is a computer-readable medium storing computer executable code, where the code when executed by a processor causes the processor to implement any of aspects 1 to 17.