Interference relocation for mitigating inter-radar interference in radar applications

Abstract

Methods, apparatuses, and computer program products for radar devices are provided. A radar device can detect an interfering radar signal from a second radar device that interferes with a measurement of a return of a radar signal from a first radar device. The radar device can perform a timing adjustment action in response to detecting the interfering radar signal from the second radar device.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Patent Application No. 17 / 149,594, filed January 14, 2021, entitled “INTERFERENCE RELOCATION IN RADARAPPLICATIONS TO MITIGATE INTER-RADAR INTERFERENCE,” which is expressly incorporated herein by reference in its entirety. Background Technology Technical Field

[0005] This disclosure generally relates to radar equipment, and more specifically, to radar equipment capable of communicating with other radar equipment.

[0006] introduction

[0007] For radar equipment, such as frequency modulated continuous wave (FMCW) radar, multiple radar sources can cause interference. Traditional radar waveforms, such as FMCW, may not be distinguishable from various sources. Such limitations on radar equipment can be problematic for various applications that rely on radar equipment to achieve safety features. For example, modern motor vehicles increasingly employ driver-assistive technologies such as lane departure warning (LDW) and forward collision warning (FCW). These technologies may utilize radar equipment. Furthermore, radar equipment is also important for facilitating automated driving systems (ADS). There is a need for further improvements to radar technology to facilitate these applications.

[0008] Overview

[0009] The following provides a brief overview of one or more aspects to offer a basic understanding of such aspects. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify the key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as an introduction to the more detailed description that follows.

[0010] In one aspect of this disclosure, a method, computer-readable medium, and apparatus for a first radar device are provided. The first radar device can detect interfering radar signals from a second radar device that interfere with the measurement of the echo of a radar signal from the first radar device. The first radar device can perform a timing adjustment operation in response to detecting the interfering radar signal from the second radar device.

[0011] In another aspect of this disclosure, a method, computer-readable medium, and apparatus for a first radar device are provided. The first radar device can receive a timing adjustment request from a second radar device. The first radar device can adjust the transmission timing of radar signals in response to the timing adjustment request from the second radar device.

[0012] To achieve the foregoing and related objectives, these one or more aspects include the features fully described below and specifically pointed out in the claims. Certain illustrative features of these one or more aspects are set forth in detail in the following description and drawings. However, these features merely indicate a few of the various ways in which the principles of these various aspects may be employed, and this description is intended to cover all such aspects and their equivalents. Brief description of the attached diagram

[0014] Figure 1 This is a diagram illustrating an example of a wireless communication system and access network.

[0015] Figure 2 An example time slot structure for wireless communication is explained.

[0016] Figure 3 This is an illustration of an example of a base station and user equipment (UE) communicating with a radar module in an access network.

[0017] Figure 4 The example of interference with radar equipment was explained.

[0018] Figure 5 The example FMCW was explained.

[0019] Figure 6A and 6B An example of interference that causes phantom targets is explained.

[0020] Figures 7A to 7D Examples of radar operation based on various aspects of this disclosure are explained.

[0021] Figure 8 This is a flowchart of radar operation methods according to various aspects of this disclosure.

[0022] Figure 9 This is a flowchart of radar operation methods according to various aspects of this disclosure.

[0023] Figure 10 These are illustrations illustrating examples of hardware implementations for example devices according to various aspects of this disclosure.

[0024] Figure 11 These are illustrations illustrating examples of hardware implementations for example devices according to various aspects of this disclosure.

[0025] Detailed description

[0026] The detailed description that follows, taken in conjunction with the accompanying drawings, is intended as a description of various configurations and is not intended to represent only the configurations in which the concepts described herein can be practiced. This detailed description includes specific details to provide a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form to avoid obscuring such concepts.

[0027] Several aspects of a telecommunications system will now be described with reference to various apparatuses and methods. These apparatuses and methods will be described in detail below and explained in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively, “elements”). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system.

[0028] As an example, an element, or any part of an element, or any combination of elements, may be implemented as a "processing system" including 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, system-on-a-chip (SoCs), 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 functionalities described throughout this disclosure. One or more processors in a processing system can execute software. Software should be broadly interpreted as instructions, instruction sets, code, code segments, program code, programs, subroutines, 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 languages, or other terms.

[0029] Accordingly, in one or more example embodiments, the described functionality can be implemented in hardware, software, or any combination thereof. If implemented in software, the functionality can be stored or encoded as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media. Storage media can be any available medium accessible to a computer. By way of example and not limitation, such computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), optical disc storage, magnetic disk storage, other magnetic storage devices, combinations of computer-readable media of the types described above, or any other medium capable of being used to store computer-executable code in the form of instructions or data structures accessible to a computer.

[0030] Radar can be incorporated into equipment such as vehicles to perform collision avoidance and other related technologies. Radar measurements can also be used in non-vehicle applications. Radar can be configured to transmit radar signals / pulses and receive echo signals based on the reflection of radar signals from objects. Radar devices can determine the time delay between the transmission of radar signals and the reception of echo signals in order to determine the distance between the radar and the object from which the echo signal is reflected. Radar signal interception can be used in automotive radar, such as detecting the environment around a vehicle, nearby vehicles or objects, detecting information for intelligent cruise control, collision avoidance, etc. Radar signal interception can be used for gesture recognition, such as human activity recognition, hand movement recognition, facial expression recognition, keystroke detection, sign language detection, etc. Radar signal interception can be used to obtain contextual information, such as position detection, tracking, orientation determination, distance estimation, etc. Radar signal interception can be used for environmental imaging, for example, providing 3D maps for virtual reality (VR) applications. Radar signal interception can be used to provide high-resolution positioning, for example, for Industrial Internet of Things (IIoT) applications. In some examples, radar devices can provide consumer-grade radar with advanced detection capabilities. Radar signal listening can provide contactless or device-free interaction with devices or systems. For example, a wireless device can detect a user's gesture to trigger an action at the wireless device.

[0031] Radar transmissions from different radar devices (e.g., devices equipped with radar) can cause inter-radar interference when the radar devices transmit signals simultaneously, partially overlap in time, or are temporally close within a given area. Radar signals may be featureless, and radar devices may be unable to distinguish between reflections of their own radar pulses and interference or reflections of radar pulses originating from other radar devices. Therefore, when multiple radar devices are close to each other, radar transmissions from different devices can interfere with each other. Interference, radar pulses, and / or reflected radar pulses from other devices may appear as false targets to the radar, preventing the radar signaling device from identifying targets or obtaining accurate information about them.

[0032] The aspects presented in this article enable radar equipment to perform adjustments or communicate with interfering radar equipment in order to reduce interference between radar equipment.

[0033] Figure 1 Figure 100 illustrates an example of a wireless communication system and access network in which base station 102 or 180 can wirelessly communicate with user equipment (UE) 104. Some wireless devices can perform radar signal interception. For example, radar device 103 can transmit a wireless signal and use information about that signal to image the environment or determine information about a target 107 based on distance, Doppler, and / or angle information determined from the wireless signal. The signal may include a defined waveform, such as frequency modulated continuous wave (FMCW), or a pulse or chirped waveform.

[0034] In some examples, radar device 103 or radar component 198 may transmit radar signal 105 to determine information about a target or environment. In some examples, UE 104 may include or be associated with radar component 198 (which may be incorporated into or communicate with UE 104), radar component 198 being configured to transmit radar signal 105 and perform measurement and / or detection of target 107 based on the echo or reflection of radar signal 105 from target 107. Radar component 198 may be considered a radar device, or UE 104 including radar component 198 may be considered a radar device. UE 104 may be associated with and communicate with a radar module such as an FMCW radar. In some aspects, UE 104 may be a radar device mounted on a vehicle. Radar component 198 may include radar adjustment component 199, configured to detect interfering radar signals from different radar devices 103 (which interfere with the measurement of the echo of the radar signal from radar component 198), and to perform timing adjustment actions in response to the detection of interfering radar signals from another radar device 103. In some aspects, radar adjustment component 199 may be configured to adjust the timing of radar signal 105 on a per-chirp or per-frame basis. In other aspects, radar adjustment component 199 may be configured to transmit a request / instruction to other radar devices 103 to adjust the timing of interfering radar signals. In some aspects, radar adjustment component 199 may be configured to receive a timing adjustment request from a second radar device and adjust the transmission timing of radar signal 105 in response to the timing adjustment request from the second radar device. As explained, radar device 103 may similarly include radar adjustment component 199.

[0035] In some examples, radar device 103 or a wireless device having radar component 198 can exchange wireless communications. In some examples, the devices can exchange communications on D2D link 158 (such as a side link).

[0036] The wireless communication system (also known as a wireless wide area network (WWAN)) includes base station 102, UE 104, evolved packet core (EPC) 160, and another core network 190 (e.g., a 5G core (5GC)). Base station 102 may include macrocells (high-power cellular base stations) and / or small cells (low-power cellular base stations). Macrocells include base stations. Small cells include femtocells, picocells, and microcells.

[0037] Base station 102 configured for 4G LTE (collectively referred to as Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) can interface with EPC 160 via a first backhaul link 132 (e.g., S1 interface). Base station 102 configured for 5G NR (collectively referred to as Next Generation RAN (NG-RAN)) can interface with core network 190 via a second backhaul link 184. Among other functions, base station 102 can also perform one or more of the following functions: user data delivery, radio channel cryptography and cryptography decoding, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of Non-Access Stratum (NAS) messages, NAS node selection, synchronization, Radio Access Network (RAN) sharing, Multimedia Broadcast Multicast Service (MBMS), subscriber and equipment tracking, RAN Information Management (RIM), paging, location, and delivery of alarm messages. Base station 102 can communicate with each other directly or indirectly (e.g., via EPC 160 or core network 190) on third backhaul link 134 (e.g., X2 interface). First backhaul link 132, second backhaul link 184 and third backhaul link 134 can be wired or wireless.

[0038] Base station 102 can wirelessly communicate with UE 104. Each base station 102 can provide communication coverage for its respective geographical coverage area 110. Overlapping geographical coverage areas 110 may exist. For example, small cell 102' may have a coverage area 110' that overlaps with the coverage areas 110 of one or more macro base stations 102. A network that includes both small cells and macro cells may be referred to as a heterogeneous network. The heterogeneous network may also include a Home Evolved B Node (eNB) (HeNB) that can provide services to a restricted group called a Closed Subscriber Group (CSG). The communication link 120 between base station 102 and UE 104 may include uplink (UL) (also known as reverse link) transmission from UE 104 to base station 102 and / or downlink (DL) (also known as forward link) transmission from base station 102 to UE 104. The communication link 120 may use multiple-input multiple-output (MIMO) antenna technologies, including spatial multiplexing, beamforming, and / or transmit diversity. These communication links may use one or more carriers. For the total amount used for transmission in each direction, up to Yx MHz ( x Each carrier allocated in the carrier aggregation (of component carriers) can be used by base station 102 / UE 104 up to [number missing] carriers. YA spectrum with a bandwidth of MHz (e.g., 5, 10, 15, 20, 100, 400 MHz, etc.). These carriers may or may not be adjacent to each other. Carrier allocation may be asymmetric with respect to DL and UL (e.g., more or fewer carriers may be allocated to DL compared to UL). Component carriers may include primary component carriers and one or more secondary component carriers. The primary component carrier may be referred to as the primary cell (PCell), and the secondary component carriers may be referred to as secondary cells (SCells).

[0039] Some UEs 104 may communicate with each other using a device-to-device (D2D) communication link 158. The D2D communication link 158 may use DL / UL WWAN spectrum. The D2D communication link 158 may use one or more sidelink channels, such as the Physical Sidelink Broadcast Channel (PSBCH), Physical Sidelink Discovery Channel (PSDCH), Physical Sidelink Shared Channel (PSSCH), and Physical Sidelink Control Channel (PSCCH). D2D communication can be achieved through a wide variety of wireless D2D communication systems, such as, for example, WiMedia, Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE, or NR.

[0040] The wireless communication system may further include a Wi-Fi access point (AP) 150 communicating with a Wi-Fi station (STA) 152 via a communication link 154, for example, in an unlicensed spectrum of 5 GHz. When communicating in unlicensed spectrum, the STA 152 / AP 150 may perform a clear channel assessment (CCA) before communication to determine whether the channel is available.

[0041] Small cell 102' can operate in licensed and / or unlicensed spectrum. When operating in unlicensed spectrum, small cell 102' can employ NR and use the same unlicensed spectrum (e.g., 5 GHz, etc.) used by Wi-Fi AP 150. Small cell 102' employing NR in unlicensed spectrum can enhance access network coverage and / or increase access network capacity.

[0042] The electromagnetic spectrum is typically subdivided into various classes, bands, channels, etc., based on frequency / wavelength. In 5G NR, two initial operating bands have been designated as frequency ranges FR1 (410 MHz – 7.125 GHz) and FR2 (24.25 GHz – 52.6 GHz). The frequencies between FR1 and FR2 are generally referred to as the mid-band frequencies. Although a portion of FR1 is greater than 6 GHz, FR1 is often (interchangeably) referred to as the “sub-6 GHz band” in various documents and articles. Similar naming issues sometimes arise regarding FR2, although it is different from the Very High Frequency (EHF) band (30 GHz – 300 GHz) designated as the “millimeter wave” band by the International Telecommunication Union (ITU), FR2 is often (interchangeably) referred to as the “millimeter wave” band in various documents and articles.

[0043] In light of the foregoing, unless otherwise stated, it should be understood that, as used herein, the term "sub-6 GHz" and the like can broadly refer to frequencies less than 6 GHz, within FR1, or including intermediate frequency band frequencies. Furthermore, unless otherwise stated, it should be understood that, as used herein, the term "millimeter wave" and the like can broadly refer to frequencies that can include intermediate frequency band frequencies, within FR2, or within the EHF band.

[0044] Whether it is a small cell 102' or a large cell (e.g., a macro base station), base station 102 may include and / or be referred to as an eNB, gB node (gNB), or another type of base station. Some base stations (such as gNB 180) may operate in conventional sub-6 GHz spectrum, millimeter wave frequencies, and / or near-millimeter wave frequencies to communicate with UE 104. When gNB 180 operates in millimeter wave frequencies or near-millimeter wave frequencies, gNB 180 may be referred to as a millimeter wave base station. Millimeter wave base station 180 may utilize beamforming 182 with UE 104 to compensate for path loss and short range. Base station 180 and UE 104 may each include multiple antennas, such as antenna elements, antenna panels, and / or antenna arrays, to facilitate beamforming.

[0045] Base station 180 may transmit beamformed signals to UE 104 in one or more transmission directions 182'. UE 104 may receive beamformed signals from base station 180 in one or more reception directions 182''. UE 104 may also transmit beamformed signals to base station 180 in one or more transmission directions. Base station 180 may receive beamformed signals from UE 104 in one or more reception directions. Base station 180 / UE 104 may perform beam training to determine the optimal reception and transmission directions for each of base station 180 / UE 104. The transmission and reception directions of base station 180 may be the same or different. The transmission and reception directions of UE 104 may be the same or different.

[0046] EPC 160 may include Mobility Management Entity (MME) 162, other MMEs 164, Serving Gateway 166, Multimedia Broadcast Multicast Service (MBMS) Gateway 168, Broadcast Multicast Service Center (BM-SC) 170, and Packet Data Network (PDN) Gateway 172. MME 162 may communicate with Home Subscriber Server (HSS) 174. MME 162 is the control node that handles signaling between UE 104 and EPC 160. Generally, MME 162 provides bearer and connection management. All user Internet Protocol (IP) packets are delivered through Serving Gateway 166, which is itself connected to PDN Gateway 172. PDN Gateway 172 provides UE IP address allocation and other functions. PDN Gateway 172 and BM-SC 170 are connected to IP Service 176. IP Service 176 may include the Internet, intranet, IP Multimedia Subsystem (IMS), PS streaming service, and / or other IP services. The BM-SC 170 provides functionality for MBMS user service provisioning and delivery. The BM-SC 170 can serve as an entry point for content provider MBMS transmissions, authorize and initiate MBMS bearer services within a Public Land Mobile Network (PLMN), and schedule MBMS transmissions. The MBMS gateway 168 can be used to distribute MBMS traffic to base station 102 within a Broadcast-Specific Service Single Frequency Network (MBSFN) area, and can be responsible for session management (start / stop) and collecting eMBMS-related billing information.

[0047] The core network 190 may include Access and Mobility Management Functions (AMF) 192, other AMFs 193, Session Management Functions (SMF) 194, and User Plane Functions (UPF) 195. AMF 192 may communicate with Unified Data Management (UDM) 196. AMF 192 is the control node that handles signaling between UE 104 and the core network 190. Generally, AMF 192 provides QoS flow and session management. All user Internet Protocol (IP) packets are transmitted through UPF 195. UPF 195 provides UE IP address allocation and other functions. UPF 195 connects to IP services 197. IP services 197 may include the Internet, intranet, IP Multimedia Subsystem (IMS), Packet Switched (PS) Streaming (PSS) services, and / or other IP services.

[0048] Base stations may include and / or be referred to as gNB, B-node, eNB, access point, base transceiver station, radio base station, radio transceiver, transceiver function, basic service set (BSS), extended service set (ESS), transmit / receive point (TRP), or some other suitable term. Base station 102 provides UE 104 with access to EPC 160 or core network 190. Examples of UE 104 include cellular phones, smartphones, Session Initiation Protocol (SIP) phones, laptop devices, personal digital assistants (PDAs), satellite radios, GPS devices, multimedia devices, video devices, digital audio players (e.g., MP3 players), cameras, game consoles, tablet devices, smart devices, wearable devices, vehicles, electricity meters, gas pumps, large or small kitchen appliances, healthcare devices, implants, sensors / actuators, displays, or any other similar functional devices. Some UE 104 may be referred to as IoT devices (e.g., parking timers, oil pumps, ovens, vehicles, heart monitors, etc.). UE 104 may also be referred to as a station, mobile station, subscriber station, mobile unit, subscriber unit, radio unit, remote unit, mobile device, radio device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, radio terminal, remote terminal, handheld device, user agent, mobile client, client, or some other suitable term.

[0049] Figure 2 Figures 200 and 210 illustrate example aspects of time slot structures that can be used for sidelink communication (e.g., between UE 104, RSU 107, etc.). In some examples, the time slot structure may be within a 5G / NR frame structure. In other examples, the time slot structure may be within an LTE frame structure. Although the following description may focus on 5G NR, the concepts described herein are applicable to other similar domains such as LTE, LTE-A, CDMA, GSM, and other wireless technologies. Figure 2The example time slot structure in the diagram is merely an example, and other sidelink communications may have different frame structures and / or different channels for sidelink communication. A frame (10 ms) can be divided into 10 equally sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include mini-time slots, which may include 7, 4, or 2 symbols. Each time slot may include 7 or 14 symbols, depending on the time slot configuration. For time slot configuration 0, each time slot may include 14 symbols, while for time slot configuration 1, each time slot may include 7 symbols. Figure 200 illustrates a single resource block for a single time slot transmission, for example, this single time slot transmission may correspond to a 0.5 ms transmission time interval (TTI). The physical sidelink control channel can be configured to occupy multiple physical resource blocks (PRBs), for example, 10, 12, 15, 20, or 25 PRBs. The PSCCH can be limited to a single subchannel. For example, the PSCCH duration can be configured to 2 or 3 symbols. For example, subchannels may include 10, 15, 20, 25, 50, 75, or 100 PRBs. Resources for sidelink transmissions may be selected from a resource pool that includes one or more subchannels. As a non-limiting example, a resource pool may include between 1 and 27 subchannels. A PSCCH size may be established for the resource pool, for example, between 10% and 100% of the duration of one subchannel for 2 or 3 symbols. Figure 2 Figure 210 illustrates an example where the PSCCH occupies approximately 50% of a subchannel, serving as an example to illustrate the concept of PSCCH occupies a subchannel. The Physical Sidelink Shared Channel (PSSCH) occupies at least one subchannel. In some examples, the PSCCH may include a first portion of Sidelink Control Information (SCI), and the PSSCH may include a second portion of the SCI.

[0050] A resource grid can be used to represent frame structure. Each time slot may include a resource block (RB) (also called a physical RB (PRB)) extending for 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. Figure 2 As explained, some REs may include control information in the PSCCH and some REs may include demodulation RS (DMRS). At least one symbol may be used for feedback. Figure 2An example of a two-symbol structure for a Physical Side-Link Feedback Channel (PSFCH) with adjacent gap symbols is explained. Symbols before and / or after the feedback can be used to transition between data reception and feedback transmission. This gap allows the device to (e.g., in a subsequent time slot) switch from operating as a transmitting device to preparing to operate as a receiving device. As explained, data can be transmitted in the remaining REs. This data may include the data message described herein. The positions of any of the data, DMRS, SCI, feedback, gap symbols, and / or LBT symbols may be related to... Figure 2 The examples described in the text differ. In some examples, multiple time slots can be grouped together.

[0051] Figure 3 This is a block diagram of a first wireless device 310 having components for wireless transmission. Wireless device 310 may be a radar device configured to perform the aspects presented herein. The term radar device can be used to refer to a device having the ability to transmit and receive radar signals to determine information about surrounding objects, the environment of the device, etc. In some examples, wireless device 310 may, for example, have the ability to communicate with another wireless device 350 in addition to radar transmission / reception, such as in combination. Figure 1 As described. The wireless device 310 may include one or more antennas 320, and may include a transmitter / receiver 318 having a corresponding transmitter processor 316 and a receiver processor 370, the corresponding transmitter processor 316 and receiver processor 370 being configured to perform radar transmission and measurement, such as in combination. Figure 1 As described, one or more antennas 320, a transmitter / receiver 318, a transmit processor 316, and a receive processor 370 can transmit radar signals and receive reflections of radar signals. A controller / processor 375 can determine radar information about a target based on the received signals.

[0052] In some examples, in addition to radar transmission / detection, the wireless device 310 may have wireless communication capabilities. Therefore, Figure 3 The block diagram 300 can also show a first wireless device 310 communicating with a second wireless device 350 via a sidelink. In some examples, devices 310 and 350 may communicate via V2X or other D2D communication. This communication may be based on a sidelink using a PC5 interface. Devices 310 and 350 may include UEs, RSUs, base stations, etc. Packets may be provided to a controller / processor 375 that implements Layer 3 and Layer 2 functionality. Layer 3 includes the Radio Resource Control (RRC) layer, and Layer 2 includes the Packet Data Convergence Protocol (PDCP) layer, the Radio Link Control (RLC) layer, and the Media Access Control (MAC) layer.

[0053] Transmit (TX) processor 316 and receive (RX) processor 370 implement Layer 1 functionality associated with various signal processing functions. Layer 1, including the physical (PHY) layer, may include error detection on the transport channel, forward error correction (FEC) decoding / decoding of the transport channel, interleaving, rate matching, mapping to the physical channel, modulation / demodulation of the physical channel, and MIMO antenna processing. TX processor 316 processes the mapping to the signal constellation 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 decoded and modulated symbols can then be split into parallel streams. Each stream can then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., a pilot) in the time and / or frequency domains, and subsequently combined 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 generate multiple spatial streams. A channel estimate from channel estimator 374 can be used to determine the coding and modulation scheme and for spatial processing. This channel estimate can be derived from a reference signal and / or channel condition feedback transmitted by device 350. Each spatial stream can then be provided to a different antenna 320 via a separate transmitter 318TX. Each transmitter 318TX can use the corresponding spatial stream to modulate an RF carrier for transmission.

[0054] At device 350, each receiver 354 RX receives a signal via its corresponding antenna 352. Each receiver 354 RX recovers the information modulated onto the RF carrier and provides this information to the receive (RX) processor 356. The TX processor 368 and RX processor 356 implement Layer 1 functionality associated with various signal processing functions. The RX processor 356 can perform spatial processing on this information to recover any spatial stream destined for device 350. If multiple spatial streams are destined for device 350, they can be combined by the RX processor 356 into a single OFDM symbol stream. The RX processor 356 then uses a Fast Fourier Transform (FFT) to transform the OFDM symbol stream from the time domain to the frequency domain. The frequency domain signal consists of a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier, along with the reference signal, are recovered and demodulated by determining the signal constellation points most likely to have been transmitted by device 310. These soft decisions can be based on a channel estimate calculated by the channel estimator 358. These soft decisions are then decoded and deinterleaved to recover the original data and control signals transmitted by device 310 over the physical channel. This data and control signals are then provided to the controller / processor 359 that implements layer 3 and layer 2 functionality.

[0055] The controller / processor 359 may be associated with a memory 360 that stores program code and data. The memory 360 may be referred to as a computer-readable medium. The controller / processor 359 can provide demultiplexing, packet reassembly, ciphertext decoding, header decompression, and control signal processing between transmission and logical channels. The controller / processor 359 is also responsible for error detection using ACK and / or NACK protocols to support HARQ operation.

[0056] Similar to the functionality described in conjunction with the transmissions performed by device 310, controller / processor 359 can provide RRC layer functionality associated with system information (e.g., MIB, SIB) capture, RRC connection, and measurement reporting; PDCP layer functionality associated with header compression / decompression and security (cryptography, cryptographic decoding, integrity protection, integrity verification); RLC layer functionality associated with the transmission of upper-layer PDUs, error correction via ARQ, concatenation, segmentation and reassembly of RLC SDUs, resegmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing MAC SDUs onto TBs, demultiplexing MAC SDUs from TBs, scheduling information reporting, error correction via HARQ, priority handling, and logical channel priority ordering.

[0057] The channel estimate derived by the channel estimator 358 from the reference signal or feedback transmitted by the device 310 can be used by the TX processor 368 to select an appropriate coding and modulation scheme and to facilitate spatial processing. The spatial stream generated by the TX processor 368 can be provided to a different antenna 352 via separate transmitters 354 TX. Each transmitter 354 TX can use the corresponding spatial stream to modulate an RF carrier for transmission.

[0058] Transmissions are processed at device 310 in a manner similar to that described for the receiver function at device 350. Each receiver 318RX receives signals via its corresponding antenna 320. Each receiver 318RX recovers the information modulated onto the RF carrier and provides that information to the RX processor 370.

[0059] The controller / processor 375 may be associated with a memory 376 that stores program code and data. The memory 376 may be referred to as a computer-readable medium. The controller / processor 375 provides demultiplexing, packet reassembly, ciphertext decoding, header decompression, and control signal processing between transmission and logical channels. The controller / processor 375 is also responsible for error detection using ACK and / or NACK protocols to support HARQ operation.

[0060] Controllers / processors 375 and / or 359 may further communicate with and control the operation of radar module 362, which may also be referred to as a radar component, such as... Figure 1 Radar component 198 is included. In some examples, wireless devices 310 and 350 may be referred to as radar devices. In other examples, radar module 362 may be referred to as a radar device.

[0061] At least one of the TX processor 368, RX processor 356, radar module 362, and controller / processor 359 can be configured to perform operations related to... Figure 1 The radar adjustment component 199 integrates various aspects.

[0062] Figure 4 Figure 400 illustrates an example of interference between various radar devices. Figure 4 The examples of radar component applications in vehicle settings are explained. While the descriptions focus on radar components associated with vehicles to illustrate the concept, the concepts can be similarly applied to radar devices not associated with vehicles or used in non-vehicle settings. For example... Figure 4As shown in Figure 400, radar devices 402 and 406 may be associated with vehicles for safety purposes (e.g., collision avoidance), environmental monitoring, etc. One or more vehicles may transmit radar signals and measure reflected signals to detect distances between other objects (such as vehicles, pedestrians, road features, structures, etc.). While actions are described as being performed by vehicles, in some examples, these actions may be performed by radar devices associated with the vehicles. Signals from different radar sources may cause interference (e.g., inter-radar interference), for example, when radar signals are simultaneous, overlap in time, or are close in time. For example, radar device 406 may transmit radar signal 405 and may use reflections to detect target 404, other vehicles (e.g., radar device 402), the surrounding environment, etc. Radar device 402 may similarly transmit radar signal 403. The radar component of radar device 406 may receive radar signal 403 as interference with its own radar signal 405. For example, because the radar signals (e.g., waveforms) transmitted by radar devices 402 or 406 may be featureless, radar device 406 may be unable to distinguish between the reflected radar pulses of its own radar signal 405 and other radar signals from other radar devices (such as radar signal 403 from another radar device or reflections of radar signal 403). In other words, radar waveforms (such as frequency-modulated continuous waves (FMCW)) may be indistinguishable to the radar when they originate from various sources. Therefore, when more radar devices are close to each other, they may begin to interfere with each other. Interference or reflected radar pulses from (or similar) other radars may appear as false targets to the radar, or they may cause the radar to obtain incorrect information about the target (e.g., inaccurate range, time offset, transmit power, etc.). Multiple radar sources can cause significant interference. A radar signal that may be high-powered from each radar device may appear as a high-powered false target at a distance (e.g., half the distance with a timing offset) to another radar device.

[0063] Figure 5 Example FMCW diagram 500 is explained, illustrating the waveforms of radar signal 502 and echo signal 504 (e.g., reflection of radar signal 502). Figure 5As explained, an FMCW radar can transmit a chirped signal swept across a frequency band and receive the same chirped signal after a delay (after reflection). Signals 502 and 504 can be associated with the FMCW waveform used by the radar for frequency sweeping. The radar device can detect a target object by transmitting a chirped signal (also referred to as a pulse signal), wherein the chirped signal can have a frequency that varies linearly (e.g., frequency sweep) over a fixed time period (e.g., sweep time) by a modulated signal. For example, as shown in Figure 500, the transmitted chirped signal can have an initial frequency. The frequency then increases gradually (e.g., linearly) on a sine wave until it reaches the upper limit frequency of the sine wave, and then the frequency of the signal returns to the initial frequency, and another chirped signal can be transmitted in the same manner. In other words, each chirped signal (or radar pulse) can include a frequency increase (e.g., linearly) and a frequency decrease, so that the radar device can transmit a chirped signal swept across a frequency band. Radar signal 502 can correspond to an instantaneous frequency that increases from zero to a higher frequency based on sinusoidal operation and then decreases back to zero from that higher frequency. Each up and down sweep can correspond to an individual pulse or chirp of the FMCW. The chirp time can be determined by T. c The indication and upward sweep time can be determined by T 上 Indication. For example, the frequency can be swept up from 77 GHz to 78 GHz to provide a 1 GHz sweep bandwidth. The time period elapsed for sweeping up 1 GHz of bandwidth can correspond to T. 上 After the radar sweeps upward to 78 GHz, an additional / non-zero time length may elapse to allow the radar to sweep downward and return to 77 GHz. This additional / non-zero time length can correspond to T 下 Therefore, T 上 +T 下 It can be equal to T c (e.g., the duration of the chirp / pulse). In each example, the radar can be based on a specific T. c Configure it using parameters.

[0064] The radar can receive a series of chirps via an echo signal 504 that matches the transmitted signal 502, although this series of chirps is delayed based on the position of the object from which the echo signal reflects. As the distance between the radar and the object increases, the corresponding delay may become larger. The distance to the object can be determined based on determining this delay. For example, instead of directly measuring the time of the delay, the frequency increment between the transmitted signal 502 and the echo signal 504 can be determined, where the frequency increment can be proportional to the delay. The distance to the object can be further determined based on the delay proportional to the distance. The frequency increment can be compared with the range spectrum and the beat frequency (F) determined based on the Fast Fourier Transform (FFT). bThe beat frequency can correspond to the mixed output of the transmitted signal 502 and the echo signal 504. The slope used for the upward sweep frequency (e.g., per T) can be defined. 上 (seconds, 1 GHz) so that the rate of change of the slope can correspond to the beta (β) parameter.

[0065] The parameters of the transmitted signal 502 and the echo signal 504 can indicate the maximum (e.g., theoretical) detectable range of the radar's FMCW receiver. For radars with longer ranges, 100-300 m may be the maximum detectable range. The parameters can also indicate the maximum detectable velocity / rate (e.g., 30-40 m / s). For example, based on multiple received chirps, the velocity of an object can be determined based on the Doppler spectrum, and the direction of the object can be determined based on the direction-of-arrival (DoA) spectrum. In various examples, the output (such as...) ; and / or The parameters can be determined based on the FMCW waveform, where x corresponds to the transmitted chirp signal, y corresponds to the received chirp signal, t corresponds to time, and j corresponds to... And τ corresponds to the delay between the transmitted chirp and the received chirp. That is, three different frequency analyses can be performed to determine range, velocity, and / or direction. There may be a delay proportional to the range. There may be a mixer output beat frequency. An FMCW receiver (e.g., incorporated into a radar) can operate in the range spectrum and can identify the beat frequency / range. Using multiple chirs, an FMCW receiver can identify the target velocity based on the Doppler spectrum and can identify the target direction based on the direction of arrival (DoA) spectrum.

[0066] Figure 6A and 6B Examples 600 and 650 illustrate interference resulting from phantom targets. As shown in Example 600, when a radar performs a frequency sweep (e.g., transmits a chirp) on a target, the target may appear as a peak 602 in the range spectrum. However, if another radar (e.g., an jammer) is present sweeping frequencies in the same direction, the interference may appear as a phantom target / false peak 604 in the range spectrum. Therefore, the radar equipment may incorrectly identify the wrong target as the target. In another example, as shown in Figure 650, if the radar equipment and the jammer sweep frequencies in opposite directions (e.g., the jammer uses a different chirp sweeping frequencies from high to low), the interference from the jammer may appear as broadband noise 606 in the range spectrum. Regardless of whether the interference appears as a false target / peak 604 or broadband noise 606, the interference may cause the radar equipment to fail to identify the target.

[0067] The aspects presented in this article enable radar equipment to resolve potential interference from another radar signal by performing timing adjustments. Figures 7A to 7D Examples of radar operation 700, 710, 720, and 730 according to various aspects of this disclosure are explained. For example... Figure 7A As explained in the text, radar signal 702 can be reflected from the target and received by the transmitting radar equipment as radar echo 706. Figure 7A An example was explained in which radar echo 706 is adjacent to interference 704 (such as radar signals from another radar device). For example, radar echo 706 may generate beat frequencies. f b1 The video frequency f b1 Too close (e.g., within a threshold time range) to generate beat frequency f b2 Interference 704. Radar echoes may be masked by interference. To avoid problems caused by interference 704, radar equipment can adjust its transmission timing on a per-chirp or per-frame basis. In some examples, radar equipment can randomly adjust the radar's transmission timing on a per-chirp basis. In other examples, radar equipment can randomly adjust the radar's transmission timing on a per-frame basis. For example, radar equipment can apply timing adjustment that changes the timing of the transmitted signal by a random amount of time, for example, rather than a fixed amount of time. In some aspects, per-chirp timing changes can lead to faster adaptation than per-frame timing changes. In some aspects, the random timing change amount can be chosen to be large enough, depending on a threshold probability level, to demask the true radar echo signal (e.g., to allow the radar equipment to distinguish its own radar signal from the radar signal that is opposite to the interfering radar signal). Figure 7B The explanation showed that it came from Figure 7A An example of timing adjustment of the radar signal relative to interfering radar signals. For example... Figure 7B As shown, after the timing adjustment, at the next chirp or frame, the radar (and / or the jammer) changes the radar signal and the jamming signal (e.g., f b2 In cases where there is a high probability of a frequency difference between the radar signals, the radar transmission timing can be (e.g., proactively, without further instructions) changed to an amount or position that does not interfere with the reception of radar echoes. Timing adjustments can be selected to aid in frequency matching. f b2 With a high probability of deviating from the beat frequency f b1 For example, this increases the likelihood that the radar equipment will be able to accurately receive radar echo signals to detect targets. Timing adjustments help the operation of the radar equipment (e.g., radar signal 712 and radar echo 716) be less affected by relocation interference 714 (e.g., its relocation relative to the radar signal and / or echo signal). Figure 7B In the example, the interference can be relocated relative to the radar signal and / or echo signal, for instance, by adjusting the timing of the radar signal.

[0068] In some respects, when a radar detects a jamming radar signal from another radar device (e.g., a jamming radar device) that obscures the target being tracked (e.g., as in combination with...), Figure 4 , 6A (or as described in any of 6B), the radar can notify / request a change in timing to relocate the jamming radar device. In some aspects, if the location of the jamming radar device is identifiable (e.g., via sidelink communication (such as V2X positioning), or via GPS / GNSS), communication between radar devices can be accomplished via radar communication. In some aspects, if the jamming radar device is identifiable, communication between radar devices can be accomplished via unicast. For example, a radar device can unicast a request or indication to the jamming radar device to change its radar transmission timing. In some examples, a radar device can send a request or indication to the jamming radar device that can be sent as a sidelink message. For example, in Figure 4 In this context, radar device 406 can transmit a request to radar device 402 for adjusting the transmission timing of radar signal 403. In other examples, the radar device can transmit the request or indication as a multicast or broadcast message. In these respects, the jamming radar device can respond to the indication or request by changing the timing of jamming 714 based on the radar's request. Therefore, based on the coordination between the radar device and the jamming radar device, jamming 714 is repositioned relative to the radar signal.

[0069] In some respects, radar equipment can perform listening procedures before transmitting radar signals, such as Listen Before Talk (LBT) procedures. LBT is just one example, and radar equipment can perform other listening procedures in which it monitors other radar signals that may potentially interfere with its radar measurements. For example, the radar can perform LBT before radar transmission, periodically during radar operation, or when it detects potential interference (e.g., after losing a tracked target or detecting enhanced jamming energy). The radar equipment can determine the beat frequency between the radar signal it will transmit and the radar signal of the interfering radar equipment. f b For example, in order to identify potential jammers. During LBT procedures, radar can identify jamming sources detected as phantom targets, such as, for example, in conjunction with Figure 4 , 6A Or as described in any of 6B. The radar can then unicast, broadcast, or multicast a request to alter the timing of the radar signal relative to the signal of the jamming radar equipment in order to reposition the jammer. For example, as Figure 7C and 7D As explained, after detecting potential interference 726, the radar can then unicast, broadcast, or multicast a request to the interfering party to change the timing to relocate the interference. The interfering radar equipment can adjust the timing of its interfering radar transmission, and interference 736 can be relocated relative to the radar equipment's radar signal. Because the radar is performing LBT, there may not be an actual radar echo affected by interference 726; for example, in some examples, the radar equipment can identify the potential interfering radar signal before experiencing interference with its own radar echo signal. The radar equipment can perform an action (either adjusting its own radar transmission timing or requesting the interfering radar equipment to adjust the timing of the potential interfering radar signal) to resolve the potential interference before transmitting its own radar signal and receiving radar echoes.

[0070] Figure 8 This is a flowchart 800 of a radar operation method. This method can be performed by a first radar device (e.g., UE 104 including radar module or radar assembly 198; radar devices 103, 406; wireless devices 310, 350; radar module 362; device 1002). Optionally, aspects are illustrated with dashed lines. This method allows the radar device to reduce interference caused by interfering radar signals from another radar device, thereby performing radar detection more accurately.

[0071] At 802, the first radar device can detect interfering radar signals from the second radar device, which interfere with the measurement of the echo of the radar signal from the first radar device. Detection (802) can be performed by... Figure 10 The interference detection component 1042 in the middle performs this operation. For example, Figure 4 , 6A Examples of various aspects of jamming radar signals are explained in sections 6B, 7A, 7B, 7C, and 7D. Based on the jamming radar signal, a first radar device can perform timing adjustment actions in response to detecting a jamming radar signal from a second radar device, as described in conjunction with 808. In some aspects, the radar signal includes FMCW, for example, such as... Figure 5 As described. In some aspects, detecting jamming radar signals includes: the echo of the detected radar signal being masked by jamming radar signals from a second radar device.

[0072] In some aspects, at 804, the first radar device may execute a listening procedure before transmitting the radar signal, wherein the first radar device detects the interfering radar signal from the second radar device based on the listening procedure. Examples of the listening procedure are combined with... Figure 7C and 7D The description is as follows. Eavesdropping (804) can be performed by... Figure 10The listening component 1044 in the first radar device performs the operation. In some aspects, the listening procedure includes an LBT (Local Time-Based Beating) procedure. In such aspects, detecting interfering radar signals from a second radar device may include: processing the detected signal from the second radar device during the listening procedure to obtain a measurement; determining that the measurement meets a threshold; and identifying the result of the listening procedure based at least in part on the measurement meeting the threshold. In some aspects, if the measurement is less than the threshold, the result of the listening procedure includes a success result and the first radar device transmits the radar signal without the timing adjustment action. In some aspects, if the measurement is greater than or equal to the threshold, the result of the listening procedure includes a failure result, which triggers the first radar device to perform the timing adjustment action.

[0073] At 806, the first radar device may identify the second radar device, for example, to transmit a unicast message to the second radar device. In some examples, the first radar device may identify the second radar device based on sidelink communication (such as a sidelink message received from the second radar device). This message may include an identifier or other information that enables the first radar device to identify the second radar device and to transmit communication directed to the second radar device (e.g., as a unicast transmission) to the second radar device. In some aspects, the second radar device may be identifiable based on jamming signals. In some aspects, the first radar device may identify the location of the second radar device based on sidelink positioning (such as V2X positioning). Sidelink positioning may include receiving a sidelink positioning message from the second radar device. In other examples, the first radar device may identify the second radar device based on GPS / GNSS. Identification (806) may be provided by Figure 10 The identification component 1046 in the middle is executed.

[0074] At 808, the first radar device may perform a timing adjustment action in response to detecting the interfering radar signal from the second radar device. Execution (808) may be performed by... Figure 10The timing adjustment action component 1048 in the system executes the timing adjustment action. In some aspects, the timing adjustment action includes: at 808A, adjusting the timing of a radar signal from the first radar device. For example, in some aspects, the timing adjustment action includes adjusting the transmission timing of the radar signal from the first radar device. In some aspects, the first radar device adjusting the transmission timing of the radar signal includes: making adjustments on a per-chirp basis. In some aspects, the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each chirp. In some aspects, the first radar device adjusts the transmission timing of the radar signal on a per-frame basis. In some aspects, the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each frame. In some aspects, the timing adjustment action includes: at 808B, transmitting a timing adjustment request to the second radar device. In some aspects, if the first radar device can identify the second radar device at 806, the first radar device unicasts the timing adjustment request to the second radar device. In some aspects, if the first radar device can identify the location of the second radar device at 808B, the first radar device can transmit the timing adjustment request to the second radar device based on radar communications that can be based on that location. In some aspects, the first radar device broadcasts or multicasts the timing adjustment request (e.g., if the first radar device cannot identify the second radar device at 806). In some examples, the first radar device can transmit the timing adjustment request along with a sidelink transmission. Different terms or descriptions than "timing adjustment request" may be used; for example, the first radar device may provide any indication regarding the timing of the second radar device's adjustment of the jamming radar signal.

[0075] Figure 9 This is a flowchart 900 of a radar operation method. The method can be performed by a first radar device (e.g., UE 104 including radar module or radar component 198; radar devices 103, 402; wireless devices 310, 350; radar module 362; device 1102).

[0076] At 902, the first radar device can receive a timing adjustment request from the second radar device. Receiving (902) can be done by... Figure 11 The timing adjustment request receiving component 1142 performs the operation. In some aspects, the timing adjustment request is received via unicast. In some aspects, the timing adjustment request is received via broadcast. In some aspects, the timing adjustment request is received via multicast. In some examples, the first radar device may receive the timing adjustment request along with a sidelink transmission from the second radar device. Different terms or descriptions than "timing adjustment request" may be used; for example, the second radar device may provide any indication regarding the timing of the timing adjustment of the jamming radar signal by the first radar device.

[0077] At 904, the first radar device can adjust the transmission timing of the radar signal in response to a timing adjustment request from the second radar device. This adjustment can be made by... Figure 11 The timing adjustment component 1144 in the first radar device performs the following: In some aspects, adjusting the transmission timing of the radar signal by the first radar device includes making adjustments on a per-chirp basis. In some aspects, the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each chirp. In some aspects, the first radar device adjusts the transmission timing of the radar signal on a per-frame basis. In some aspects, the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each frame.

[0078] Figure 10 Figure 1000 illustrates an example of the hardware implementation of device 1002. Device 1002 is a radar device and includes a control unit 1004. The control unit 1004 can communicate with a UE 104 via a transceiver 1022 (which may include a cellular RF transceiver), which communicates with or includes radar modules, base stations 102 / 180, another radar device 103, etc. The transceiver can also transmit radar signals and receive reflections of radar signals, for example, to detect a target 107, monitor the environment of device 1002, etc. In some examples, the cellular RF transceiver and the radar transceiver may include separate components. The control unit 1004 may include a computer-readable medium / memory. The control unit 1004 is responsible for general processing, including the execution of software stored on the computer-readable medium / memory. When executed by the control unit 1004, the software causes the control unit 1004 to perform the various functions described above. Computer-readable media / memory can also be used to store data manipulated by control unit 1004 during software execution. Control unit 1004 further includes receiving component 1030, radar manager 1032, and transmission component 1034. Radar manager 1032 includes the one or more of the described components. Components within radar manager 1032 can be stored in computer-readable media / memory and / or configured as hardware within control unit 1004. Control unit 1004 may be a component of wireless device 310 and may include memory 376 and / or at least one of the following: TX processor 316, RX processor 370, and controller / processor 375. The device may further include radar sensor module 1024. Radar sensor module 1024 may include additional components, such as radar sensor components configured to transmit radar signals, GPS components, etc.

[0079] Radar manager 1032 includes interference detection component 1042, which detects interfering radar signals from a second radar device that interfere with the measurement of the echo of the radar signal from the first radar device, for example, as in combination with... Figure 8 As described in 802. Radar manager 1032 further includes a listening component 1044 that executes a listening procedure before transmitting the radar signal, wherein the first radar device detects the interfering radar signal from the second radar device based on the listening procedure, for example, as in combination with... Figure 8 As described in section 804. Radar manager 1032 further includes identification component 1046, which identifies a second radar device, for example, as in combination with... Figure 8 As described in 806. The radar manager 1032 further includes a timing adjustment action component 1048 that performs a timing adjustment action in response to detecting an interfering radar signal from a second radar device, for example, as described in conjunction with... Figure 8 As described in 808.

[0080] The device may include execution Figure 8 The additional components of each block of the algorithm in the aforementioned flowchart. Thus, Figure 8 Each block in the aforementioned flowchart can be executed by a component, and the device may include one or more of those components. These components may be one or more hardware components specifically configured to execute the process / algorithm, implemented by a processor configured to execute the process / algorithm, stored in a computer-readable medium for implementation by a processor, or some combination thereof.

[0081] In one configuration, device 1002, specifically control unit 1004, includes: means for detecting interfering radar signals from a second radar device that interfere with the measurement of the echo of a radar signal from a first radar device. Control unit 1004 may further include means for performing a timing adjustment operation in response to detecting the interfering radar signal from the second radar device. Control unit 1004 may further include means for adjusting the transmission timing of the radar signal from the first radar device. Control unit 1004 may further include means for transmitting a timing adjustment request to the second radar device. Control unit 1004 may further include means for identifying the second radar device. Control unit 1004 may further include means for performing a listening procedure before transmitting the radar signal, wherein the first radar device detects the interfering radar signal from the second radar device based on the listening procedure. Control unit 1004 may further include means for processing the detected signal from the second radar device during the listening procedure to obtain a measurement. Control unit 1004 may further include means for determining that the measurement meets a threshold. Control unit 1004 may further include means for identifying the result of the listening procedure based at least in part on the measurement meeting the threshold. The aforementioned means may be one or more of the aforementioned components in device 1002 configured to perform the functions described by the aforementioned means. As described above, device 1102 may include TX processor 368, RX processor 356, and controller / processor 359. Thus, in one configuration, the aforementioned means may be TX processor 368, RX processor 356, radar module 362, and controller / processor 375 configured to perform the functions described by the aforementioned means.

[0082] Figure 11Figure 1100 illustrates an example of the hardware implementation of device 1102. Device 1102 is a radar device and includes a control unit 1104. The control unit 1104 can communicate with a UE 104 via a transceiver 1122 (which may include a cellular RF transceiver), the UE 104 including a radar module, base station 102 / 180, another radar device 103, etc. The transceiver can also transmit radar signals and receive reflections of radar signals, for example, to detect a target 107, monitor the environment of device 1002, etc. In some examples, the cellular RF transceiver and the radar transceiver may include separate components. The control unit 1104 may include a computer-readable medium / memory. The control unit 1104 is responsible for general processing, including the execution of software stored on the computer-readable medium / memory. When executed by the control unit 1104, the software causes the control unit 1104 to perform the various functions described above. The computer-readable medium / memory may also be used to store data manipulated by the control unit 1104 when executing the software. The control unit 1104 further includes a receiving component 1130, a radar manager 1132, and a transmitting component 1134. The radar manager 1132 includes the one or more of the described components. Components within the radar manager 1132 may be stored in a computer-readable medium / memory and / or configured as hardware within the control unit 1104. The control unit 1104 may be a component of BS 310 and may include a memory 376 and / or at least one of the following: a TX processor 316, an RX processor 370, and a controller / processor 375. The device may further include a radar sensor module 1124. The radar sensor module 1124 may include additional components, such as a radar sensor component configured to transmit radar signals, a GPS component, etc.

[0083] Radar manager 1132 includes timing adjustment request receiving component 1142, which receives timing adjustment requests from a second radar device, for example, as in combination with Figure 9 As described in 902. The radar manager 1132 also includes a timing adjustment component 1144, which adjusts the transmission timing of the radar signal in response to a timing adjustment request from the second radar device, for example, as in conjunction with... Figure 9 As described in 904.

[0084] The device may include execution Figure 9 The additional components of each block of the algorithm in the aforementioned flowchart. Thus, Figure 9 Each block in the aforementioned flowchart can be executed by a component, and the device may include one or more of those components. These components may be one or more hardware components specifically configured to execute the process / algorithm, implemented by a processor configured to execute the process / algorithm, stored in a computer-readable medium for implementation by a processor, or some combination thereof.

[0085] In some examples, the device may be able to perform Figure 8 and 9 Therefore, the device may include combinations of components 1042, 1044, 1046, 1048, 1142, and 1144.

[0086] In one configuration, device 1102, specifically control unit 1104, includes: means for receiving a timing adjustment request from a second radar device; and means for adjusting the transmission timing of a radar signal in response to the timing adjustment request from the second radar device. The aforementioned means may be one or more of the aforementioned components in device 1102 configured to perform the functions described by the aforementioned means. As described above, device 1102 may include a TX processor 368, an RX processor 356, and a controller / processor 359. Thus, in one configuration, the aforementioned means may be the TX processor 368, the RX processor 356, the radar module 362, and the controller / processor 375 configured to perform the functions described by the aforementioned means.

[0087] It should be understood that the specific order or hierarchy of the boxes in the disclosed process / flowcharts is an explanation of exemplary methods. It should be understood that the specific order or hierarchy of the boxes in these process / flowcharts can be rearranged based on design preferences. Furthermore, some boxes may be combined or omitted. The appended method claims present the elements of the various boxes in an exemplary order and are not intended to be limited to the specific order or hierarchy presented.

[0088] The preceding description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will readily be understood by those skilled in the art, and the universal principles defined herein may be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but are to be granted the full scope consistent with the language of the claims, wherein references to the singular form of an element, unless specifically stated otherwise, are not intended to mean “one and only one,” but rather “one or more.” Terms such as “if,” “when,” and “at the time of” should be interpreted as meaning “under this condition,” rather than implying a direct temporal relationship or reaction. That is, these phrases (e.g., “when”) do not imply an immediate action in response to the occurrence of an action or during the occurrence of an action, but only imply that an action will occur when a condition is met, without requiring a specific or immediate temporal constraint for the action to occur. The term “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 superior to or overriding other aspects. Unless specifically stated otherwise, the term “some / a” 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 multiple A, multiple B, or multiple 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 only A, only B, only C, A and B, A and C, B and C, or A and B and C, wherein any such combination may include one or more members of A, B, or C. Elements of all aspects described throughout this disclosure that are presently or hereafter known to those skilled in the art are expressly incorporated herein by reference and are intended to be covered by the claims. Furthermore, nothing disclosed herein is intended as a donation to the public, whether or not such disclosure is explicitly stated in the claims. Terms such as “module,” “mechanism,” “element,” and “device” are not necessarily substitutes for the term “apparatus.” Thus, no claim element should be interpreted as an apparatus plus a function unless the element is explicitly stated using the phrase “apparatus for…”.

[0089] The following aspects are illustrative only and may be combined with other aspects or teachings described herein without limitation.

[0090] Aspect 1 is a method performed at a first radar device, comprising: detecting an interfering radar signal from a second radar device that interferes with the measurement of the echo of a radar signal from the first radar device; and performing a timing adjustment operation in response to detecting the interfering radar signal from the second radar device.

[0091] Aspect 2 is the method of aspect 1, wherein the timing adjustment action includes adjusting the transmission timing of the radar signal from the first radar device.

[0092] Aspect 3 is the method of aspect 2, wherein adjusting the transmission timing of the radar signal by the first radar device includes: adjusting on a per-chirp basis.

[0093] Aspect 4 is the method of aspect 3, wherein the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each chirp.

[0094] Aspect 5 is the method of aspect 2, wherein the first radar device adjusts the transmission timing of the radar signal on a frame-by-frame basis.

[0095] Aspect 6 is the method of aspect 3, wherein the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each frame.

[0096] Aspect 7 is the method of aspect 1 or 2, wherein the timing adjustment action includes transmitting a timing adjustment request to the second radar device.

[0097] Aspect 8 is the method of aspect 7, wherein the first radar device unicasts the timing adjustment request to the second radar device.

[0098] Aspect 9 is the same as the method in aspect 8, further comprising: transmitting the timing adjustment action via radar communication based on the location of a second radar device through side-link positioning or GPS.

[0099] Aspect 10 is the method of aspect 7, wherein the first radar device broadcasts the timing adjustment request.

[0100] Aspect 11 is the method of aspect 7, wherein the first radar device multicasts the timing adjustment request.

[0101] Aspect 12 is a method of any of aspects 1 to 11, further comprising: performing a listening procedure before transmitting the radar signal, wherein the first radar device detects the interfering radar signal from the second radar device based on the listening procedure.

[0102] Aspect 13 is the method of aspect 12, wherein the eavesdropping procedure includes the LBT procedure.

[0103] Aspect 14 is a method of aspect 12 or 13, wherein detecting the interfering radar signal from the second radar device includes: processing the detected signal from the second radar device during the listening procedure to obtain a measurement; determining that the measurement satisfies a threshold; and identifying the result of the listening procedure based at least in part on the measurement satisfying the threshold.

[0104] Aspect 15 is the method of aspect 14, wherein if the measurement is less than the threshold, the result of the listening procedure includes a success result and the first radar device transmits the radar signal without the timing adjustment action.

[0105] Aspect 16 is the method of aspect 14 or 15, wherein if the measurement is greater than or equal to the threshold, the result of the listening procedure includes a failure result, which triggers the first radar device to perform the timing adjustment action.

[0106] Aspect 17 is a method of any one of aspects 14 to 16, wherein the radar signal includes FMCW.

[0107] Aspect 18 is a method of any one of aspects 14 to 17, wherein detecting the interfering radar signal includes: detecting that the echo of the radar signal is masked by the interfering radar signal from a second radar device.

[0108] Aspect 19 is a method performed at a first radar device, comprising: receiving a timing adjustment request from a second radar device; and adjusting the transmission timing of a radar signal in response to the timing adjustment request from the second radar device.

[0109] Aspect 20 is a method of aspect 19, wherein adjusting the transmission timing of the radar signal by the first radar device includes adjusting on a per-chirp basis.

[0110] Aspect 21 is the method of aspect 20, wherein the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each chirp.

[0111] Aspect 22 is a method of aspect 19, wherein the first radar device adjusts the transmission timing of the radar signal on a frame-by-frame basis.

[0112] Aspect 23 is the method of aspect 22, wherein the first radar device adjusts the transmission timing of the radar signal by a random amount of time at each frame.

[0113] Aspect 24 is a method of any of aspects 19 to 23, wherein the timing adjustment request is received via unicast.

[0114] Aspect 25 is a method of any one of aspects 19 to 23, wherein the timing adjustment request is received via broadcast.

[0115] Aspect 26 is a method of any of aspects 19 to 23, wherein the timing adjustment request is received via multicast.

[0116] Aspect 27 is a radar device comprising: at least one processor coupled to a memory and configured to implement the method as described in any one of aspects 1 to 18.

[0117] Aspect 28 is a radar device comprising: at least one processor coupled to a memory and configured to implement the method of any one of aspects 19 to 26.

[0118] Aspect 29 is a radar device including means for implementing the method as described in any one of aspects 1 to 18.

[0119] Aspect 30 is a radar device including means for implementing the methods of any one of aspects 19 to 26.

[0120] Aspect 31 is a non-transient computer-readable storage medium that stores computer-executable code, wherein when executed by a processor, the code causes the processor to implement the methods of any one of aspects 1 to 18.

[0121] Aspect 31 is a non-transient computer-readable storage medium that stores computer-executable code, wherein when executed by a processor, the code causes the processor to implement the methods of any one of aspects 19 to 26.

Claims

1. A method performed by a first radar device, comprising: Based on the listening procedure, the interfering radar signal from the second radar device is detected by listening to it as a false target or broadband noise. The interfering radar signal potentially interferes with the measurement of the echo of the radar signal from the first radar device. Based on whether the location of the second radar device, which is the source of the interference radar signal, can be located via sidelink positioning or GPS identification, it is determined which transmission type among unicast, multicast, and broadcast should be used to transmit the timing adjustment request. as well as Based on the detection of the interfering radar signal from the second radar device and using the determined transmission type, a timing adjustment request including an indication to adjust the timing is transmitted to the second radar device. When the location of the second radar device, which is the source of the interfering radar signal, is identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via unicast based on the location of the second radar device identified by the side-link positioning or the GPS. When the location of the second radar device, which is the source of the interfering radar signal, is not identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via multicast or the broadcast.

2. The method as described in claim 1, wherein, The method further includes adjusting the transmission timing of the radar signal from the first radar device.

3. The method as described in claim 2, wherein, Adjusting the transmission timing of the radar signal includes adjusting the transmission timing of the radar signal based on a per-chirp basis.

4. The method of claim 3, wherein, Adjusting the transmission timing of the radar signal includes adjusting the transmission timing of the radar signal by a random amount of time at each chirp.

5. The method of claim 3, wherein, Adjusting the transmission timing of the radar signal includes adjusting the transmission timing of the radar signal by a random amount of time at each frame.

6. The method of claim 2, wherein, Adjusting the transmission timing of the radar signal includes adjusting the transmission timing of the radar signal on a per-frame basis.

7. The method of claim 1, wherein, Transmitting the timing adjustment request includes unicasting the timing adjustment request to the second radar device.

8. The method of claim 1, wherein transmitting the timing adjustment request comprises: The timing adjustment request is transmitted via the sidelink positioning or via radar communication based on the location of the second radar device using GPS.

9. The method of claim 1, wherein, Transmitting the timing adjustment request includes broadcasting the timing adjustment request.

10. The method of claim 1, wherein, Transmitting the timing adjustment request includes multicasting the timing adjustment request.

11. The method of claim 1, wherein the eavesdropping procedure includes the Listen Before Talk (LBT) procedure.

12. The method of claim 1, wherein, Detecting the interference radar signal from the second radar device includes: The detected signals from the second radar device are processed during the listening procedure to obtain the measurement; Determine that the measurement satisfies a threshold; and The outcome of the listening procedure is identified at least in part based on the measurement meeting the threshold.

13. The method of claim 12, wherein if the measurement is less than the threshold, the result of the listening procedure includes a success result and further includes transmitting the radar signal without the timing adjustment request.

14. The method of claim 12, wherein if the measurement is greater than or equal to the threshold, the result of the listening procedure includes a failure result, the failure result triggering the transmission of the timing adjustment request.

15. The method of claim 1, wherein, The radar signal includes frequency modulated continuous wave (FMCW).

16. The method of claim 15, wherein detecting the interfering radar signal comprises: The echo of the detected radar signal is masked by the jamming radar signal from the second radar device.

17. A first radar device, comprising: Memory; as well as At least one processor, coupled to the memory and configured to: Based on the listening procedure, the interfering radar signal from the second radar device is detected by listening to it as a false target or broadband noise. The interfering radar signal potentially interferes with the measurement of the echo of the radar signal from the first radar device. Based on whether the location of the second radar device, which is the source of the interfering radar signal, can be located via side link positioning or GPS identification, it is determined which transmission type among unicast, multicast, and broadcast should be used to transmit the timing adjustment request. as well as Based on the detection of the interfering radar signal from the second radar device and using the determined transmission type, a timing adjustment request including an indication to adjust the timing is transmitted to the second radar device. When the location of the second radar device, which is the source of the interfering radar signal, is identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via unicast based on the location of the second radar device identified by the side-link positioning or the GPS. When the location of the second radar device, which is the source of the interfering radar signal, is not identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via multicast or the broadcast.

18. The first radar device as claimed in claim 17, wherein, The at least one processor coupled to the memory is further configured to adjust the transmission timing of the radar signal from the first radar device.

19. The first radar device as claimed in claim 18, wherein, To adjust the transmission timing, the at least one processor coupled to the memory is configured to adjust the transmission timing of the radar signal on a per-chirp basis.

20. The first radar device as claimed in claim 19, wherein, To adjust the transmission timing, the at least one processor coupled to the memory is configured to adjust the transmission timing of the radar signal by a random amount of time at each chirp.

21. The first radar device as claimed in claim 19, wherein, To adjust the transmission timing, the at least one processor coupled to the memory is configured to adjust the transmission timing of the radar signal by a random amount of time at each frame.

22. The first radar device as claimed in claim 18, wherein, To adjust the transmission timing, the at least one processor coupled to the memory is configured to adjust the transmission timing of the radar signal on a per-frame basis.

23. The first radar device as claimed in claim 17, wherein, To transmit the timing adjustment request, the at least one processor coupled to the memory is configured to unicast the timing adjustment request to the second radar device.

24. The first radar device as claimed in claim 23, wherein, To transmit the timing adjustment request, the at least one processor coupled to the memory is configured to: The timing adjustment request is transmitted via the sidelink positioning or via radar communication based on the location of the second radar device using GPS.

25. The first radar device as claimed in claim 17, wherein, To transmit the timing adjustment request, the at least one processor coupled to the memory is configured to broadcast the timing adjustment request.

26. The first radar device as claimed in claim 17, wherein, To transmit the timing adjustment request, the at least one processor coupled to the memory is configured to multicast the timing adjustment request.

27. The first radar device of claim 17, wherein the listening procedure includes the Listen Before Talk (LBT) procedure.

28. The first radar device as claimed in claim 17, wherein, To detect the interfering radar signal from the second radar device, the at least one processor coupled to the memory is configured to: The detected signals from the second radar device are processed during the listening procedure to obtain the measurement; Determine that the measurement satisfies a threshold; and The outcome of the listening procedure is identified at least in part based on the measurement meeting the threshold.

29. The first radar device of claim 28, wherein if the measurement is less than the threshold, the result of the listening procedure includes a success result and further includes transmitting the radar signal without the timing adjustment request.

30. The first radar device of claim 28, wherein if the measurement is greater than or equal to the threshold, the result of the listening procedure includes a failure result, the failure result triggering the transmission of the timing adjustment request.

31. The first radar device as claimed in claim 17, wherein, The radar signal includes frequency modulated continuous wave (FMCW).

32. The first radar device of claim 31, wherein, for detecting the jamming radar signal, the at least one processor coupled to the memory is configured such that the echo of the detected radar signal is masked by the jamming radar signal from the second radar device.

33. A first radar device, comprising: For the interception procedure, a device for detecting the interfering radar signal by intercepting the interfering radar signal from the second radar device as a false target or broadband noise, the interfering radar signal potentially interfering with the measurement of the echo of the radar signal from the first radar device; A means for determining which transmission type among unicast, multicast, and broadcast to use to transmit a timing adjustment request based on whether the location of the second radar device, which is the source of the jamming radar signal, can be located via side link positioning or GPS identification. as well as A means for transmitting a timing adjustment request, including an indication to adjust timing, to a second radar device based on the detection of the interfering radar signal from the second radar device and using a determined transmission type, wherein when the location of the second radar device, which is the source of the interfering radar signal, is identifiable, the timing adjustment request, including the indication to adjust timing, is transmitted to the second radar device via unicast based on the location of the second radar device identified by the side link positioning or the GPS, and wherein when the location of the second radar device, which is the source of the interfering radar signal, is not identifiable, the timing adjustment request, including the indication to adjust timing, is transmitted to the second radar device via multicast or the broadcast.

34. A non-transient computer-readable medium storing computer-executable code at a first radar device, the code causing the processor, when executed by a processor, to: Based on the listening procedure, the interfering radar signal from the second radar device is detected by listening to it as a false target or broadband noise. The interfering radar signal potentially interferes with the measurement of the echo of the radar signal from the first radar device. Based on whether the location of the second radar device, which is the source of the interfering radar signal, can be located via side link positioning or GPS identification, it is determined which transmission type among unicast, multicast, and broadcast should be used to transmit the timing adjustment request. as well as Based on the detection of the interfering radar signal from the second radar device and using the determined transmission type, a timing adjustment request including an indication to adjust the timing is transmitted to the second radar device. When the location of the second radar device, which is the source of the interfering radar signal, is identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via unicast based on the location of the second radar device identified by the side-link positioning or the GPS. When the location of the second radar device, which is the source of the interfering radar signal, is not identifiable, the timing adjustment request including the indication to adjust the timing is transmitted to the second radar device via multicast or the broadcast.

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