Patent ID: 12253621

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.1is a diagram illustrating an example of a wireless communications system and an access network100. The wireless communications system (also referred to as a wireless wide area network (WWAN)) includes base stations102, UEs104, an Evolved Packet Core (EPC)160, and another core network190(e.g., a 5G Core (5GC)). The base stations102may 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 stations102configured for 4G LTE (collectively referred to as Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) may interface with the EPC160through first backhaul links132(e.g., S1 interface). The base stations102configured for 5G NR (collectively referred to as Next Generation RAN (NG-RAN)) may interface with core network190through second backhaul links184. In addition to other functions, the base stations102may 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 stations102may communicate directly or indirectly (e.g., through the EPC160or core network190) with each other over third backhaul links134(e.g., X2 interface). The first backhaul links132, the second backhaul links184(e.g., Xn interface), and the third backhaul links134may be wired or wireless.

In some aspects, a base station102or180may 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 inFIG.1. A RAN may be disaggregated with a split between an RU109and an aggregated CU/DU. A RAN may be disaggregated with a split between the CU106, the DU105, and the RU109. A RAN may be disaggregated with a split between the CU106and an aggregated DU/RU. The CU106and the one or more DUs105may be connected via an F1 interface. A DU105and an RU109may be connected via a fronthaul interface. A connection between the CU106and a DU105may be referred to as a midhaul, and a connection between a DU105and an RU109may be referred to as a fronthaul. The connection between the CU106and 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 CU106, the DU105, or the RU109. 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 DU105may 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 CU106may 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) nodes111that exchange wireless communication with a UE104or other IAB node111to 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 station102or180that provides access to a core network190or EPC160and/or control to one or more IAB nodes111. The IAB donor may include a CU106and a DU105. IAB nodes111may include a DU105and a mobile termination (MT). The DU105of an IAB node111may operate as a parent node, and the MT may operate as a child node.

The base stations102may wirelessly communicate with the UEs104. Each of the base stations102may provide communication coverage for a respective geographic coverage area110. There may be overlapping geographic coverage areas110. For example, the small cell102′ may have a coverage area110′ that overlaps the coverage area110of one or more macro base stations102. 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 links120between the base stations102and the UEs104may include uplink (UL) (also referred to as reverse link) transmissions from a UE104to a base station102and/or downlink (DL) (also referred to as forward link) transmissions from a base station102to a UE104. The communication links120may 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 stations102/UEs104may 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 UEs104may communicate with each other using device-to-device (D2D) communication link158. The D2D communication link158may use the DL/UL WWAN spectrum. The D2D communication link158may 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 inFIG.15. Although the following description, including the example slot structure ofFIG.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)150in communication with Wi-Fi stations (STAs)152via communication links154, e.g., in a 5 GHz unlicensed frequency spectrum or the like. When communicating in an unlicensed frequency spectrum, the STAs152/AP150may perform a clear channel assessment (CCA) prior to communicating in order to determine whether the channel is available.

The small cell102′ may operate in a licensed and/or an unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell102′ may employ NR and use the same unlicensed frequency spectrum (e.g., 5 GHz, or the like) as used by the Wi-Fi AP150. The small cell102′, 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 station102, whether a small cell102′ 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 gNB180may operate in a traditional sub 6 GHz spectrum, in millimeter wave frequencies, and/or near millimeter wave frequencies in communication with the UE104. When the gNB180operates in millimeter wave or near millimeter wave frequencies, the gNB180may be referred to as a millimeter wave base station. The millimeter wave base station180may utilize beamforming182with the UE104to compensate for the path loss and short range. The base station180and the UE104may each include a plurality of antennas, such as antenna elements, antenna panels, and/or antenna arrays to facilitate the beamforming.

The base station180may transmit a beamformed signal to the UE104in one or more transmit directions182′. The UE104may receive the beamformed signal from the base station180in one or more receive directions182″. The UE104may also transmit a beamformed signal to the base station180in one or more transmit directions. The base station180may receive the beamformed signal from the UE104in one or more receive directions. The base station180/UE104may perform beam training to determine the best receive and transmit directions for each of the base station180/UE104. The transmit and receive directions for the base station180may or may not be the same. The transmit and receive directions for the UE104may or may not be the same.

The EPC160may include a Mobility Management Entity (MME)162, other MMEs164, a Serving Gateway166, a Multimedia Broadcast Multicast Service (MBMS) Gateway168, a Broadcast Multicast Service Center (BM-SC)170, and a Packet Data Network (PDN) Gateway172. The MME162may be in communication with a Home Subscriber Server (HSS)174. The MME162is the control node that processes the signaling between the UEs104and the EPC160. Generally, the MME162provides bearer and connection management. All user Internet protocol (IP) packets are transferred through the Serving Gateway166, which itself is connected to the PDN Gateway172. The PDN Gateway172provides UE IP address allocation as well as other functions. The PDN Gateway172and the BM-SC170are connected to the IP Services176. The IP Services176may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), a PS Streaming Service, and/or other IP services. The BM-SC170may provide functions for MBMS user service provisioning and delivery. The BM-SC170may 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 Gateway168may be used to distribute MBMS traffic to the base stations102belonging 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 network190may include an Access and Mobility Management Function (AMF)192, other AMFs193, a Session Management Function (SMF)194, and a User Plane Function (UPF)195. The AMF192may be in communication with a Unified Data Management (UDM)196. The AMF192is the control node that processes the signaling between the UEs104and the core network190. Generally, the AMF192provides QoS flow and session management. All user Internet protocol (IP) packets are transferred through the UPF195. The UPF195provides UE IP address allocation as well as other functions. The UPF195is connected to the IP Services197. The IP Services197may 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 station102provides an access point to the EPC160or core network190for a UE104. Examples of UEs104include 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 UEs104may be referred to as IoT devices (e.g., parking meter, gas pump, toaster, vehicles, heart monitor, etc.). The UE104may 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 toFIG.1, in certain aspects, the UE104may include an update rate adaptation component198that 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 station180may include a collaborative radar component199that 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.2Ais a diagram200illustrating an example of a first subframe within a 5G NR frame structure.FIG.2Bis a diagram230illustrating an example of DL channels within a 5G NR subframe.FIG.2Cis a diagram250illustrating an example of a second subframe within a 5G NR frame structure.FIG.2Dis a diagram280illustrating 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 byFIGS.2A,2C, 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.2A-2Dillustrate 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.

SCSμΔf = 2μ· 15[kHz]Cyclic prefix015Normal130Normal260Normal,Extended3120Normal4240Normal

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 2μslots/subframe. The subcarrier spacing may be equal to 2μ*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.2A-2Dprovide 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) (seeFIG.2B) 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 inFIG.2A, 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.2Billustrates 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 symbol2of particular subframes of a frame. The PSS is used by a UE104to determine subframe/symbol timing and a physical layer identity. A secondary synchronization signal (SSS) may be within symbol4of 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 inFIG.2C, 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.2Dillustrates 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.15includes diagrams1500and1510illustrating example aspects of slot structures that may be used for sidelink communication (e.g., between UEs104, RSU107, 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 inFIG.15is 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. Diagram1500illustrates 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 diagram1510inFIG.15illustrates 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 inFIG.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.15illustrates 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 inFIG.15. Multiple slots may be aggregated together in some aspects.

FIG.3is a block diagram300of a first wireless communication device310in communication with a second wireless communication device350. As illustrated inFIG.3, one or more of the devices may include a radar component301. As an example,FIG.3illustrates the device350including a radar component. In some aspects, the wireless communication may be based on sidelink. In some examples, the devices310and350may communicate based on V2X or other D2D communication. The sidelink communication may be based on a PC5 interface, in some aspects. The devices310and the350may 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 device310may be a base station, and the device350may be a UE, in some aspects.

Packets may be provided to a controller/processor375that implements layer 3 and layer 2 functionality. In the DL, IP packets from the EPC160may be provided to a controller/processor375. The controller/processor375implements 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/processor375provides 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) processor316and the receive (RX) processor370implement 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 processor316handles 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 estimator374may 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 device350. Each spatial stream may then be provided to a different antenna320via a separate transmitter318TX. Each transmitter318TX may modulate a radio frequency (RF) carrier with a respective spatial stream for transmission.

At the device350, each receiver354RX receives a signal through its respective antenna352. Each receiver354RX recovers information modulated onto an RF carrier and provides the information to the receive (RX) processor356. The TX processor368and the RX processor356implement layer 1 functionality associated with various signal processing functions. The RX processor356may perform spatial processing on the information to recover any spatial streams destined for the device350. If multiple spatial streams are destined for the device350, they may be combined by the RX processor356into a single OFDM symbol stream. The RX processor356then 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 device310. These soft decisions may be based on channel estimates computed by the channel estimator358. The soft decisions are then decoded and deinterleaved to recover the data and control signals that were originally transmitted by the device310on the physical channel. The data and control signals are then provided to the controller/processor359, which implements layer 3 and layer 2 functionality.

The controller/processor359can be associated with a memory360that stores program codes and data. The memory360may be referred to as a computer-readable medium. In the UL, the controller/processor359provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, and control signal processing to recover IP packets from the EPC160. The controller/processor359is 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 device310, the controller/processor359provides 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 estimator358from a reference signal or feedback transmitted by the device310may be used by the TX processor368to select the appropriate coding and modulation schemes, and to facilitate spatial processing. The spatial streams generated by the TX processor368may be provided to different antenna352via separate transmitters354TX. Each transmitter354TX may modulate an RF carrier with a respective spatial stream for transmission.

The UL transmission is processed at the device310in a manner similar to that described in connection with the receiver function at the device350. Each receiver318RX receives a signal through its respective antenna320. Each receiver318RX recovers information modulated onto an RF carrier and provides the information to a RX processor370.

The controller/processor375can be associated with a memory376that stores program codes and data. The memory376may be referred to as a computer-readable medium. In the UL, the controller/processor375provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, control signal processing to recover IP packets from the device350. IP packets from the controller/processor375may be provided to the EPC160. The controller/processor375is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations.

At least one of the TX processor368, the RX processor356, and the controller/processor359may be configured to perform aspects in connection with the update rate adaptation component198described in connection withFIG.1.

At least one of the TX processor316, the RX processor370, and the controller/processor375may be configured to perform aspects in connection with the collaborative radar component199described in connection withFIG.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 withFIG.14below. A radar component301, which may also be referred to as a radar device, as described in connection withFIG.3and/or a radar-capable device as described in connection withFIG.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.14is a diagram1400illustrating an example of frequency modulated continuous wave (FMCW) signals generated from a radar device301(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 device301may detect an object1420by 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 diagram1400, a transmitted chirp1402may have a starting frequency at1404of a sinusoid. Then the frequency may be gradually (e.g., linearly) increased on the sinusoid until it reaches the highest frequency at1406of the sinusoid, and then the frequency of the signal may return to1408and another chirp1410may 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 device301may transmit chirps sweeping in frequency.

After one or more chirps (e.g., chirps1402,1410,1412, etc.) are transmitted by the radar device301, the transmitted chirps may reach the object1420and reflect back to the radar device301, such as shown by the reflected chirps1414,1416, and1418, which may correspond to the transmitted chirps1402,1410, and1412, respectively. As there may be a distance between the radar device301and the object1420and/or it may take time for a transmitted chirp to reach the object1420and reflect back to the radar device301, a delay may exist between a transmitted chirp and its corresponding reflected chirp. The delay may be proportional to a range between the radar device301and the object1420(e.g., the further the target, the larger the delay and vice versa). Thus, the radar device301may be able to measure or estimate a distance between the radar device301and the object1420based 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 device301may measure a difference in frequency between the transmitted chirp and the reflected chirp, which may also be proportional to the distance between the radar device301and the object1420. 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 object1420from the radar device301may 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 (fb) which may be linearly proportional to the range after demodulation. For example, the radar device301may determine a beat signal1422by mixing the transmitted chirp1402and its corresponding reflected chirp1414. 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.4illustrates an example JCR application involving an RSU401and a radar-capable vehicle402.FIG.4includes a first diagram410, a second diagram420, and a third diagram430illustrating a same region-of-interest440. Diagrams410,420, and430further illustrate a set of vehicles (e.g., including vehicles402,404,406,408, and409) in the region-of-interest. The vehicles (e.g., vehicles402,404,406,408, and409) may be radar-capable, e.g., vehicle402, vehicle406, and vehicle409, or may not be radar-capable, e.g., vehicle404and vehicle408. The radar devices (e.g. radar devices403and405) associated with the vehicles (e.g., vehicles402and406) may be active (e.g., radar device403) or inactive (e.g., radar device405) as described below in relation toFIGS.5and6. AlthoughFIG.4illustrates 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 RSU401. Among other examples, the device may include a UE, a vulnerable road user (VRU). Similarly, the aspects described in connection withFIG.4are 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.

Diagram410illustrates a set of radar information collected by the radar-capable RSU401performing a radar measurement associated with a radar beam401a. The RSU401may determine a portion of the environment from measurement of radar signals transmitted at the RSU. Radar information407may be indicated by the solid lines in the diagram410illustrate the surfaces/presence of physical objects that may be identified by the radar measurement at the RSU401. As illustrated in diagram410, the radar information407collected by the RSU401may not include information for a set of vehicles (e.g., including vehicle402and vehicle406) that are not in a LoS401bof the RSU401, and may not include information on sides of the vehicles detected by the RSU.

Diagram420illustrates a set of radar information417collected by the radar-capable vehicle402performing a radar measurement of reflections419bof a radar signal419atransmitted at the vehicle402. 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 beams413a,413b,413c, and413dor 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 beams413b,413c, and413d, but not413athat may provide information regarding objects outside of the region-of-interest440). The radar-capable vehicle402may determine physical objects, or surfaces (e.g., radar information417) of physical objects that are not detected by the RSU401in the diagram410because they are not in the LoS401bof the RSU401. For example, the radar capable vehicle402may detect a set of bounding boxes or may identify surfaces such as the set of surfaces include in radar information417that make up part of a bounding box associated with vehicle406. As illustrated in diagram420, the radar information417collected by the radar-capable vehicle402may not include information for a set of vehicles (e.g., vehicle408) that are not in a LoS of the radar-capable vehicle402.

Diagram430illustrates a combination of the radar information407collected by the RSU401and the radar information417collected by the radar-capable vehicle402. The combination of the radar information407and the radar information417represents more comprehensive information about the environment than is detectable solely from either of the radar measurements illustrated in diagrams410and420. For example, while each of diagrams410and420illustrate that radar information for at least two vehicles is not captured by each of the radar-capable devices (e.g., vehicles406and409by RSU401or vehicles408and409by vehicle402), diagram430illustrates that there is a single vehicle (e.g., vehicle409) 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., vehicle404) is improved by combining the radar measurement information from more than one radar-capable device.

FIG.5is a call flow diagram500illustrating a method for radar measurement sharing.FIG.5illustrates a base station (BS)/road side unit (RSU)502(or other network node) in communication with a set of radar-sensing-capable UEs504,506, and508. 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/RSU502may receive, at510, 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/RSU502, or a zone-based location.

The BS/RSU502may then select, at512, a first set of one or more UEs from a plurality of UEs (e.g., including the UEs504,506, and508) 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/RSU502) or from another UE in the first set of one or more UEs. For example, the BS/RSU502may select UE504and UE508to 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/RSU520) than can be derived based on the BS/RSU measurements alone. As described above in relation toFIG.4and as will be described below in relation toFIG.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/RSU401/601while 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, at512, of the first set of one or more UEs for the radar measurement sharing, the BS/RSU502may transmit, and the UEs504and508may receive, an indication enabling the radar measurement sharing514to each of the UEs in the first set of one or more UEs (e.g., UE504and UE508). The BS/RSU502may further transmit an indication disabling radar measurement sharing516to each UE in a second set of one or more UEs that are not in the first set of one or more UEs. The indications514and516may 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 sharing514, the BS/RSU502may also transmit, and the UEs504and508may receive, a first set of configuration parameters518. The first set of configuration parameter518may 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., UEs504and508) may transmit radar measurement data to the BS/RSU502. The first set of configuration parameters518may 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/RSU502.

Based on the indication enabling radar measurement sharing514, the first set of configuration parameters518, and network state information, the UE504may determine, at520, a local configuration for transmitting radar measurement transmissions to the BS/RSU502. Similarly, the UE508may determine, at522, a local configuration for transmitting radar measurement transmissions to the BS/RSU502based on the indication enabling radar measurement sharing514, the first set of configuration parameters518, and the network state information. The local configurations for transmitting radar measurement transmissions to the BS/RSU702may 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/RSU502), 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/RSU502).

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, at520and522, the local configuration for transmitting radar measurement transmissions to the BS/RSU502, the UE504and the UE508may transmit, and the BS/RSU502may receive, radar measurements based on the local configuration524. The radar measurements based on the local configuration524may be transmitted by the UE504and the UE508at different rates. As discussed in relation to the determination at520and522, 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 configuration524received 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/RSU502, at526, may generate mapping data (e.g., an environment map) based on the radar measurements based on the local configuration524received from a plurality of UEs (e.g., UEs504and508). For example, the BS/RSU502may 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., UE504and/or508) and combine them into aggregated mapping data including the sets of bounding boxes identified by the BS/RSU502and each of the plurality of UEs (e.g., UEs504and/or508). For example, referring toFIG.4, based on receiving radar measurement information from UE402, the RSU401may generate the mapping data reflected in diagram430by combining the radar information407and the radar information417. Referring toFIG.6below, the RSU601may generate the mapping data illustrated in diagram640based on radar measurements performed at the RSU601(e.g., illustrated in diagram620) and radar measurement information received from the radar-capable vehicles603,605,607,609, and611(e.g., illustrated in diagram630).

Based on changing conditions, e.g., changing locations of the radar-capable vehicles or a changing network state, the BS/RSU502may determine a second, updated set of configuration parameters. The BS/RSU502may transmit, and enabled UEs (e.g., the UE504and the UE508) may receive, updated configuration parameters528to UEs. The updated configuration parameters528may 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 sharing514, the second, updated set of configuration parameters528, and current network state information, the UE504may determine, at530, an updated local configuration for transmitting radar measurement transmissions to the BS/RSU502. Similarly, the UE508may determine, at532, an updated local configuration for transmitting radar measurement transmissions to the BS/RSU502based on the indication enabling radar measurement sharing514, the updated, second set of configuration parameters528, 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/RSU502), 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/RSU502). 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 determinations520and522.

After determining, at530and532, the local configuration for transmitting radar measurement transmissions to the BS/RSU502, the UE504and the UE508may transmit, and the BS/RSU502may receive, radar measurements based on the local configuration534. The radar measurements based on the updated local configuration534may be transmitted by the UE504and the UE508at different rates. As discussed in relation to the determination at530and532, 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 configuration534received 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.6illustrates an example JCR system in which multiple radar-capable vehicles (e.g., vehicles603,605,607,609, and611) participate in radar measurement sharing and/or reporting. As described in relation to the selection, at512, ofFIG.5, the RSU601may select a first set of radar-capable vehicles (e.g., vehicles603,605,607,609, and611) for which to enable radar measurement sharing. Diagram610illustrates RSU601and a set of radar-capable vehicles (including vehicles603,605,607,609, and611) in a region-of-interest650including an intersection. Diagram620illustrates a set of surfaces (including surface613) in the region-of-interest650identified by a radar measurement performed by the RSU601based on the vehicles illustrated in diagram610. Diagram630illustrates a set of surfaces (including surface615) in the region-of-interest650identified by radar measurements performed by the set of radar-capable vehicles603,605,607,609, and611based on the vehicles illustrated in diagram610. In some aspects, each radar-capable vehicle additionally identifies a bounding box associated with the radar-capable vehicle (e.g., bounding box617associated with radar-capable vehicle611).

Diagram610illustrates that the selected radar-capable vehicles (e.g., radar-capable vehicles603,605,607,609, and611) may be separated by at least a threshold distance (indicated by thresholds603a,605a,607a,609a, and611a) from one or more of a network node (e.g., the RSU601) 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, and611. 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.).

Diagram640illustrates combined radar measurement information based on the radar information collected by the RSU601as illustrated in diagram620and the radar information collected by the radar-capable vehicles603,605,607,609, and611as illustrated in diagram630. 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.7is a call flow diagram700illustrating a UE704updating a local radar measurement transmission configuration based on updated network state information. As described above in relation toFIG.5, the BS/RSU702may transmit, and the UE704may receive, an indication enabling the radar measurement sharing510. The indication510may 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 sharing710, the BS/RSU702may also transmit, and the UE704may receive, a first set of configuration parameters712. The first set of configuration parameter712may 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., UE704) may transmit radar measurement data to the BS/RSU702. The first set of configuration parameters712may 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/RSU702.

The UE704may, based on receiving the indication enabling the radar measurement sharing710, determine, at714, 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/RSU702), 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/RSU702). The UE704may also determine, at714, 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 sharing710, the first set of configuration parameters712, and the network state information determined at714, the UE704may determine, at716, a local configuration for transmitting radar measurement transmissions to the BS/RSU702. The local configuration for transmitting radar measurement transmissions to the BS/RSU702may 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 toFIG.5, the local configuration at the UE704may further be based on a current speed of the UE704and an accuracy or precision of a radar system associated with the UE704.

After determining, at716, the local configuration for transmitting radar measurement transmissions to the BS/RSU702, the UE704may transmit, and the BS/RSU702may receive, radar measurements based on the local configuration718. The radar measurements based on the local configuration718received from (or transmitted by) the UE704may 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/RSU702may, as described above in relation toFIG.5, generate mapping data (e.g., an environment map) based on the radar measurements based on the local configuration718received from at least UE704. For example, the BS/RSU702may 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 toFIGS.4and6, based on receiving radar measurement information from UE402, the RSU401may generate the mapping data reflected in diagram430and the RSU601may generate the mapping data illustrated in diagram640based on radar measurements performed at the RSU601(e.g., illustrated in diagram620) and radar measurement information received from the radar-capable vehicles603,605,607,609, and611(e.g., illustrated in diagram630).

The UE704may, determine, at720, 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/RSU702), 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/RSU702). The UE704may also determine, at714, 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 UE704determines 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 UE704. 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, at720, the updated network state information the UE704may determine, at722, an updated local configuration for transmitting radar measurement transmissions to the BS/RSU702based on the first set of configuration parameters712, and the network state information determined at714. The updated local configuration for transmitting radar measurement transmissions to the BS/RSU702may include an updated radar measurement transmission rate. In some aspects, determining, at722, 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 at714that 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/RSU702may be decreased (or increased) from the radar measurement transmission rate determined at716. Similarly, the updated radar measurement transmission rate may be decreased (or increased) from the radar measurement transmission rate associated with the local configuration determined at716based on a decreased (or increased) speed associated with the UE704.

After determining, at722, the local configuration for transmitting radar measurement transmissions to the BS/RSU702, the UE704may transmit, and the BS/RSU702may receive, radar measurements based on the updated local configuration724. The radar measurements based on the updated local configuration724received from (or transmitted by) the UE704may 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/RSU702may, as described above in relation toFIG.5, generate mapping data (e.g., an environment map) based on the radar measurements based on the updated local configuration724received from at least UE704. For example, the BS/RSU702may 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 toFIGS.4and6, based on receiving radar measurement information from UE402, the RSU401may generate the mapping data reflected in diagram430and the RSU601may generate the mapping data illustrated in diagram640based on radar measurements performed at the RSU601(e.g., illustrated in diagram620) and radar measurement information received from the radar-capable vehicles603,605,607,609, and611(e.g., illustrated in diagram630).

FIG.8is a flowchart800of a method of wireless communication. The method may be performed by a base station (or RSU) (e.g., the base station102/180,502, or702; the RSU401,502,601, or702; the apparatus1302). At802, 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 toFIGS.5and7, the BS/RSU502(and the BS/RSU702) may transmit the indication enabling the radar measurement sharing514(and710) to the first set of UEs (e.g., the UEs504and508or UE704). For example,802may be performed by radar-capable-device selection component1340.

In some aspects, transmitting, at802, 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 toFIGS.5and7, the BS/RSU502(or702) may transmit a first set of configuration parameters518(or712).

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 toFIGS.5and6, the BS/RSU502or the RSU601may select a first set of radar-capable devices (e.g., the UEs504and508or radar-capable vehicles603,605,607,609, and611) and, as illustrated inFIG.6, the radar-capable devices may be separated by a threshold distance indicated by threshold603a,605a,607a,609a, and611a.

Finally, at804, 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,804may be performed by radar measurement sharing component1342. 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.9is a flowchart900of a method of wireless communication. The method may be performed by a base station (or RSU) (e.g., the base station102/180,502, or702; the RSU401,502,601, or702; the apparatus1302). At902, 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 toFIG.5, the BS/RSU502may receive, at510, location information for each of a plurality of UEs. For example,902may be performed by radar-capable-device selection component1340.

At904, 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,904may be performed by radar-capable-device selection component1340. 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 toFIGS.5and6, the BS/RSU502or the RSU601may select a first set of radar-capable devices (e.g., the UEs504and508or radar-capable vehicles603,605,607,609, and611) and, as illustrated inFIG.6, the radar-capable devices may be separated by a threshold distance indicated by threshold603a,605a,607a,609a, and611a.

At906, 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 toFIGS.5and7, the BS/RSU502(and the BS/RSU702) may transmit the indication enabling the radar measurement sharing514(and710) to the first set of UEs (e.g., the UEs504and508or UE704). For example,906may be performed by radar-capable-device selection component1340.

The base station, at908, 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 toFIG.5, the BS/RSU502may transmit the indication disabling the radar measurement sharing516to the second set of UEs (e.g., the UE506). For example,908may be performed by radar-capable-device selection component1340.

At910, 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 toFIGS.5and7, the BS/RSU502(or702) may transmit a first set of configuration parameters518(or712). For example,910may be performed by radar-capable-device selection component1340.

At912, 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,912may be performed by radar measurement sharing component1342. 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.

At914, 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,914may be performed by mapping component1344. 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 toFIG.4, based on receiving radar measurement information from UE402, the RSU401may generate the mapping data reflected in diagram430. Referring toFIG.6below, the RSU601may generate the mapping data illustrated in diagram640based on radar measurements performed at the RSU601(e.g., illustrated in diagram620) and radar measurement information received from the radar-capable vehicles603,605,607,609, and611(e.g., illustrated in diagram630).

At916, 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 toFIG.5, the BS/RSU502may transmit the updated configuration parameters528to UEs504and508. For example,916may be performed by radar-capable-device selection component1340.

Finally, at918, 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,918may be performed by radar measurement sharing component1342. 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, at918, may be used to generate an environment map as described above in relation to generating, at914, the environment map.

FIG.10is a flowchart1000of 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 UE104,504,508, or704; the radar-capable vehicle603,605,607,609, and611; the apparatus1202). At1002, 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 toFIGS.5and7, the UEs504and508(and the UE704) may receive the indication enabling the radar measurement sharing514(and710) from the BS/RSU502(and702). For example,1002may be performed by radar measurement sharing component1240.

At1004, 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 toFIGS.5and7, the UEs504and508(and the UE704) may receive the first set of configuration parameters518(and712) from the BS/RSU502(and702).

At1006, the UE may perform a radar measurement based on the first set of configuration parameters and network state information. For example,1006may be performed by radar measurement component1242. 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 toFIGS.4and6, the radar-capable vehicle402or the radar-capable vehicles603,605,607,609, and611perform a set of radar measurements identifying radar information417including surfaces (e.g., surface615) or bounding boxes437or617.

Finally, at1008, 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,1008may be performed by radar measurement sharing component1240. 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,1006may be performed by radar measurement sharing component1240.

FIG.11is a flowchart1100of 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 UE104,504,508, or704; the radar-capable vehicle603,605,607,609, and611; the apparatus1202). At1102, 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 toFIGS.5and7, the UEs504and508(and the UE704) may receive the indication enabling the radar measurement sharing514(and710) from the BS/RSU502(and702). For example,1102may be performed by radar measurement sharing component1240.

At1104, the UE may receive, from the base station, a first set of configuration parameters for the radar measurement reporting. For example,1104may be performed by radar measurement sharing component1240. 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 toFIGS.5and7, the UEs504and508(and the UE704) may receive the first set of configuration parameters518(and712) from the BS/RSU502(and702).

At1106, the UE may perform a radar measurement based on the first set of configuration parameters and network state information. For example,1106may be performed by radar measurement component1242. 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 toFIGS.4and6, the radar-capable vehicle402or the radar-capable vehicles603,605,607,609, and611perform a set of radar measurements identifying radar information417including surfaces (e.g., surface615) or bounding boxes437or617.

At1108, 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,1108may be performed by radar measurement sharing component1240. 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, at1110, updated network state information including at least a change in the measure of the congestion. For example,1110may be performed by radar measurement sharing component1240. 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, at1110, 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, at1110, 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 toFIG.7, the UE704may determine, at720, updated network state information.

At1112, the UE may perform a radar measurement based on the first set of configuration parameters and the updated network state information. For example,1112may be performed by radar measurement component1242. 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 toFIGS.4and6, the radar-capable vehicle402or the radar-capable vehicles603,605,607,609, and611perform a set of radar measurements identifying radar information417including surfaces (e.g., surface615) or bounding boxes437or617.
Finally, at1114, 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,1114may be performed by radar measurement sharing component1240. 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.12is a diagram1200illustrating an example of a hardware implementation for an apparatus1202. The apparatus1202may be a UE, a component of a UE, or may implement UE functionality. In some aspects, the apparatus1202may include a cellular baseband processor1204(also referred to as a modem) coupled to a cellular RF transceiver1222. In some aspects, the apparatus1202may further include one or more subscriber identity modules (SIM) cards1220, an application processor1206coupled to a secure digital (SD) card1208and a screen1210, a Bluetooth module1212, a wireless local area network (WLAN) module1214, a Global Positioning System (GPS) module1216, or a power supply1218. The cellular baseband processor1204communicates through the cellular RF transceiver1222with the UE104and/or BS102/180. The cellular baseband processor1204may include a computer-readable medium/memory. The computer-readable medium/memory may be non-transitory. The cellular baseband processor1204is responsible for general processing, including the execution of software stored on the computer-readable medium/memory. The software, when executed by the cellular baseband processor1204, causes the cellular baseband processor1204to 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 processor1204when executing software. The cellular baseband processor1204further includes a reception component1230, a communication manager1232, and a transmission component1234. The communication manager1232includes the one or more illustrated components. The components within the communication manager1232may be stored in the computer-readable medium/memory and/or configured as hardware within the cellular baseband processor1204. The cellular baseband processor1204may be a component of the device350and may include the memory360and/or at least one of the TX processor368, the RX processor356, and the controller/processor359. In one configuration, the apparatus1202may be a modem chip and include just the baseband processor1204, and in another configuration, the apparatus1202may be the entire device (e.g., see350ofFIG.3) and include the additional modules of the apparatus1202.

The communication manager1232includes a radar measurement sharing component1240that 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 with1002,1004,1008,1102,1104,1108,1110, and1114ofFIGS.10and11. The communication manager1232further includes a radar measurement component1242that receives input in the form of a local configuration for radar measurement sharing from the radar measurement sharing component1240and 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 with1006,1106, and1112.

The apparatus may include additional components that perform each of the blocks of the algorithm in the flowcharts ofFIGS.10and11. As such, each block in the flowcharts ofFIGS.10and11may 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 apparatus1202may include a variety of components configured for various functions. In one configuration, the apparatus1202, and in particular the cellular baseband processor1204, includes means for receiving, from a wireless device, an indication to report a radar measurement to the wireless device. The apparatus1202, and in particular the cellular baseband processor1204, may further includes means for receiving a first set of configuration parameters for the radar measurement reporting. The apparatus1202, and in particular the cellular baseband processor1204, may further includes means for performing a radar measurement based on the first set of configuration parameters and network state information. The apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202, and in particular the cellular baseband processor1204, may further includes means for performing a radar measurement based on the first set of configuration parameters and the updated network state information. The apparatus1202, and in particular the cellular baseband processor1204, 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 apparatus1202configured to perform the functions recited by the means. As described supra, the apparatus1202may include the TX Processor368, the RX Processor356, and the controller/processor359. As such, in one configuration, the means may be the TX Processor368, the RX Processor356, and the controller/processor359configured to perform the functions recited by the means.

FIG.13is a diagram1300illustrating an example of a hardware implementation for an apparatus1302. The apparatus1302may be a base station, a component of a base station, or may implement base station functionality. In some aspects, the apparatus1202may include a baseband unit1304. The baseband unit1304may communicate through a cellular RF transceiver1322with the UE104. The baseband unit1304may include a computer-readable medium/memory. The baseband unit1304is responsible for general processing, including the execution of software stored on the computer-readable medium/memory. The software, when executed by the baseband unit1304, causes the baseband unit1304to perform the various functions described supra. The computer-readable medium/memory may also be used for storing data that is manipulated by the baseband unit1304when executing software. The baseband unit1304further includes a reception component1330, a communication manager1332, and a transmission component1334. The communication manager1332includes the one or more illustrated components. The components within the communication manager1332may be stored in the computer-readable medium/memory and/or configured as hardware within the baseband unit1304. The baseband unit1304may be a component of the device310and may include the memory376and/or at least one of the TX processor316, the RX processor370, and the controller/processor375.

The communication manager1332includes a radar-capable-device selection component1340that 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 with802,902,904,906,908,910, and916ofFIGS.8and9. The communication manager1332further includes a radar measurement sharing component1342that 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 with804,912, and918ofFIGS.8and9. The communication manager1332further includes a mapping component1344that 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 with914ofFIG.9.

The apparatus may include additional components that perform each of the blocks of the algorithm in the flowcharts ofFIGS.8and9. As such, each block in the flowcharts ofFIGS.8and9may 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 apparatus1302may include a variety of components configured for various functions. In one configuration, the apparatus1302, and in particular the baseband unit1304, includes means for selecting a first set of one or more UEs from a plurality of UEs for the radar measurement reporting. The apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, may further include means for receiving location information for each of the plurality of UEs, the selecting being based on the location information. The apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302, and in particular the baseband unit1304, 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 apparatus1302configured to perform the functions recited by the means. As described supra, the apparatus1302may include the TX Processor316, the RX Processor370, and the controller/processor375. As such, in one configuration, the means may be the TX Processor316, the RX Processor370, and the controller/processor375configured 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.