## 5 Results and Discussion
### Stage II
#### 5.3.1 Less Demanding LiDAR Configuration
\begin{table}
\begin{tabular}{l c c c c} \hline \hline \multirow{2}{*}{**Configuration**} & \multirow{2}{*}{\begin{tabular}{c} **Attenuation** \\ **(dB)** \\ \end{tabular} } & \begin{tabular}{c} **Average** \\ **Through-** \\ **put** \\ **(Mbps/SD)** \\ \end{tabular} & \
\begin{tabular}{c} **Average** \\ **RTT** \\ **Latency** \\ **(ms/SD)** \\ \end{tabular} &
\begin{tabular}{c} **Requirement** \\ **Compliance** \\ \end{tabular} \\ \hline (1) Auto CSI, TRS, SSB & 0 & 83.31/0.91 & 31.18/5.67 & S3, P2+ \\  & 10 & 82.76/2.14 & 64.44/41.74 & S3, P3+ \\  & 20 & 73.51/13.36 & 224.35/122.61 & S3, P4 \\ \hline (2) Auto CSI, TRS, SSB: & & & & \\ PRACH = 128 & 0 & 82.28/1.35 & 31.95/7.54 & S3, P2+ \\  & 10 & 83.33/1.83 & 45.10/25.54 & S3, P2+ \\  & 20 & 71.88/14.94 & 240.70/134.42 & S3, P4 \\ \hline (3) Auto CSI, TRS, SSB: & & & & \\ SR Period = 1, USS = AL2 \(\rightarrow\) 8 & 0 & 83.33/0.40 & 29.77/3.58 & S3, P2+ \\  & 10 & 84.00/0.69 & 35.92/15.60 & S3, P2+ \\  & 20 & 81.27/4.78 & 121.03/60.16 & S3, P4 \\ \hline (4) Auto CSI: & & & & \\ No TRS, SR Period = 1 & 0 & 84.22/0.44 & 31.25/3.63 & S3, P2+ \\  & 10 & 82.42/2.61 & 132.28/63.01 & S3, P4 \\  & 20 & 48.04/0.24 & 438.61/5.78 & S3, P4 \\ \hline (5) Low Latency: & & & & \\ Rx to Tx = 4 & 0 & 85.34/0.28 & 41.69/9.90 & S3, P2+ \\  & 10 & 51.87/7.63 & 379.10/79.27 & S3, P4 \\ \hline (6) Low Latency: & & & & \\ SR Period = 1 & 0 & 82.63/2.99 & 82.10/35.54 & S3, P3+ \\  & 10 & 41.81/8.37 & 527.30/111.55 & S3 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Results for gNB configurations under the less demanding LiDAR sensor scenario across multiple attenuation levels. Refer to Figure 6 for a graphical summary. Notably, this configuration consistently meets the strictest latency requirement (P1) within the 0-20 dB attenuation range. It is important to note that the degradation observed in Table 6 was not as severe as the additional attenuation might suggest. This is not unexpected. In 5G, the Uplink Power Control mechanism allows user equipment (UE) to adjust its transmission power based on radio conditions. The primary goal of this feature is energy efficiency: the UE increases its transmission power only when necessary (for example, due to higher attenuation or a greater distance from the base station) and otherwise transmits at lower power levels to conserve battery life. This mechanism is described in more detail in the 3 GPP TS 38.213 standard [54]. Configurations focused on latency were not included in Table 6 when looking at 20 dB of attenuation, as their latency values were too high. Once again, this was primarily due to packet loss. Among the remaining configurations, Configuration 3 performed best. However, even Configuration 3 did not meet the P3 latency requirement. To provide a more detailed view of latency characteristics, we further analyzed the best-performing configuration (Configuration 3, Auto CSI, TRS, SSB, SR Period = 1, USS) by breaking down RTT latency results according to packet size and attenuation. This approach allows us to assess the influence of packet size on average RTT latency and its variability under different radio conditions. Table 8 summarizes these findings. \begin{table}
\begin{tabular}{c c c c} \hline \hline \multirow{2}{*}{**Configuration**} & \multirow{2}{*}{**Attenuation (dB)**} & \multirow{2}{*}{**Packet Size (B)**} & \multicolumn{2}{c}{**Downlink**} \\  & & & **End-to-End Latency** \\  & & & **(ms/SD)** \\ \hline \multirow{8}{*}{Auto CSI, TRS, SSB: SR Period = 1, USS} & 16 & 9.38/0.01 \\  & 0 & 512 & 9.39/0.01 \\  & & 1436 & 9.41/0.01 \\ \cline{1-1}  & & 16 & 9.44/0.01 \\ \cline{1-1}  & 10 & 512 & 9.46/0.01 \\ \cline{1-1}  & & 1436 & 9.49/0.01 \\ \cline{1-1} \cline{2-5}  & 20 & 16 & 9.49/0.01 \\ \cline{1-1}  & & 512 & 9.49/0.01 \\ \cline{1-1}  & & 1436 & 9.52/0.01 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Downlink end-to-end latency depending on attenuation and packet size, measured using the (3) Auto CSI, TRS, and SSB configuration (SR Period = 1, USS) in the less demanding LiDAR scenario.