Power efficient iterative sensor fusion

Abstract

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

Description

[0001] Cross-referencing

[0002] This patent application claims the benefit of U.S. Patent Application No. 17 / 180,677, filed on February 19, 2021, entitled “POWER EFFICIENT ITERATIVE SENSOR FUSION”, by Balasubramanian et al., which has been assigned to the assignee of this application. Technical Field

[0003] The following section deals with wireless communication, including power-efficient iterative sensor fusion. Background Technology

[0004] Wireless communication systems are widely deployed to provide various types of communication content, such as voice, video, packet data, messaging, and broadcasting. These systems can support communication with multiple users by sharing available system resources (e.g., time, frequency, and power). Examples of such multiple access systems include fourth-generation (4G) systems (e.g., Long Term Evolution (LTE) systems, improved LTE (LTE-A) systems, or LTE-A Pro systems) and fifth-generation (5G) systems (which may be referred to as New Radio (NR) systems). These systems can employ technologies such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal FDMA (OFDMA), or Discrete Fourier Transform Spread Spectrum Orthogonal Frequency Division Multiplexing (DFT-S-OFDM). A wireless multiple access communication system may include one or more base stations or one or more network access nodes, each base station or network access node simultaneously supporting communication with multiple communication devices (which may also be referred to as User Equipment (UE)). Summary of the Invention

[0005] The described techniques relate to improved methods, systems, devices, and apparatuses that support power-efficient iterative sensor fusion. In general, the described techniques provide various methods to improve sensor operations performed by user equipment (UE), such as vehicle-based UEs (v-UEs). For example, in one approach, the UE may initially select which sensor(s)(s) to use for sensing operations (e.g., rather than always using all available sensors). The UE may initially select which sensor(s) to use randomly, based on its own identifier, etc. The UE may use its selected sensors to perform sensing operations and report its intrinsic sensing data (e.g., first sensing data) to a base station, which responds with extrinsic sensing data (e.g., second sensing data). The extrinsic sensing data may correspond to a unified sensing report from the base station based on sensing reports received from multiple UEs. The UE may update the sensors to be used for subsequent sensing operations based on its own intrinsic and extrinsic sensing data. This can improve the UE's sensing operations by saving power, minimizing unnecessary sensing, etc.

[0006] In another approach, the UE can receive external sensing data (e.g., sensing reports) from the base station and select which sensor(s) to use based on this external sensing data (e.g., initially, it may not have its own internal sensing data for sensor selection). For example, the UE can receive external sensing data from the base station in a sensing report and select a subset of its available sensors for subsequent sensing operations based on this external sensing data. For example, the UE can determine the accuracy, completeness, reliability, etc., of environmental details based on the external sensing data and then select a subset of sensors in response. For example, highly reliable external sensing data may indicate that additional sensors are not needed, while less reliable external sensing data may indicate that additional sensors are appropriate. Therefore, the UE can update which sensors to use for sensing operations based on internal and / or external sensing data.

[0007] A method for wireless communication at a UE is described. The method may include: selecting a first subset of available sensors from a set of available sensors of the UE based on sensor selection criteria, each sensor in the set of available sensors being associated with a sensor type; performing a sensing operation using the first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; transmitting a first sensing report indicating the first sensing data; and receiving a second sensing report indicating second sensing data based on the first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0008] An apparatus for wireless communication at a UE is described. The apparatus may include a processor, a memory coupled to the processor, and instructions stored in the memory. The instructions are executable by the processor to cause the apparatus to: select a first subset of sensors from a set of available sensors of the UE based on sensor selection criteria, each sensor in the set of available sensors being associated with a sensor type; perform a sensing operation using the first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; send a first sensing report indicating the first sensing data; and receive a second sensing report indicating second sensing data based on the first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0009] Another apparatus for wireless communication at a UE is described. The apparatus may include: unit for selecting a first subset of sensors from a set of available sensors of the UE based on sensor selection criteria, each sensor in the set of available sensors being associated with a sensor type; unit for performing a sensing operation using the first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; unit for transmitting a first sensing report indicating the first sensing data; and unit for receiving a second sensing report indicating second sensing data based on the first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0010] A non-transitory computer-readable medium is described, storing code for wireless communication at a UE. The code may include processor-executable instructions to: select a first subset of available sensors from a set of available sensors of the UE based on sensor selection criteria, each sensor in the set being associated with a sensor type; perform a sensing operation using the first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; send a first sensing report indicating the first sensing data; and receive a second sensing report indicating second sensing data based on the first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0011] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for randomly selecting a first subset of sensors from the set of available sensors of the UE according to the sensor selection criteria.

[0012] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for selecting the first subset of sensors based on an identifier associated with the UE, according to the sensor selection criteria.

[0013] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: randomly selecting a first subset of sensors from the set of available sensors based on a power usage metric associated with the first subset of sensors, according to the sensor selection criteria.

[0014] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing: additional sensing operations based on the second sensing report to obtain updated first sensing data; and sending a third sensing report indicating the updated first sensing data.

[0015] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: determining, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data fails to meet a sensing accuracy threshold; and selecting a second subset of sensors from the available sensor set of the UE based on the failure of the correlation to meet the sensing accuracy threshold, the second subset of sensors comprising more sensors than the first subset of sensors.

[0016] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: determining, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold, the low-end sensing accuracy threshold being a threshold lower than the sensing accuracy threshold, wherein selecting a subset of the second sensors that includes more sensors may be based on the correlation satisfying the low-end sensing accuracy threshold.

[0017] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: determining, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold; and selecting a second subset of sensors from the available sensor set of the UE based on the correlation satisfying the sensing accuracy threshold, the second subset of sensors comprising fewer sensors than the first subset of sensors.

[0018] A method for wireless communication at a UE is described. The method may include: receiving a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; selecting a first subset of available sensors from a set of available sensors of the UE based on the sensing report, each sensor in the set of available sensors being associated with a sensor type; and using the first subset of sensors to perform a sensing operation to obtain sensing data measured by the UE during the sensing operation.

[0019] An apparatus for wireless communication at a UE is described. The apparatus may include a processor, a memory coupled to the processor, and instructions stored in the memory. The instructions are executable by the processor to cause the apparatus to: receive a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; select a first subset of available sensors from a set of available sensors for the UE based on the sensing reports, each sensor in the set of available sensors being associated with a sensor type; and perform a sensing operation using the first subset of sensors to obtain sensing data measured by the UE during the sensing operation.

[0020] Another apparatus for wireless communication at a UE is described. The apparatus may include: a unit for receiving a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; a unit for selecting a first subset of available sensors from a set of available sensors of the UE based on the sensing report, each sensor in the set of available sensors being associated with a sensor type; and a unit for performing a sensing operation using the first subset of sensors to obtain sensing data measured by the UE during the sensing operation.

[0021] A non-transitory computer-readable medium is described, storing code for wireless communication at a UE. The code may include processor-executable instructions to: receive a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; select a first subset of available sensors from a set of available sensors for the UE based on the sensing report, each sensor in the set of available sensors being associated with a sensor type; and perform a sensing operation using the first subset of sensors to obtain sensing data measured by the UE during the sensing operation.

[0022] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: determining, based on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold; and selecting a first subset of sensors from the set of available sensors of the UE based on the confidence metric satisfying the confidence threshold.

[0023] Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: determining, based on the sensing report, that a confidence metric of the sensing data fails to meet a confidence threshold; and selecting a first subset of sensors from the set of available sensors of the UE based on the failure of the confidence metric to meet the confidence threshold. Some examples of the methods, apparatuses, and non-transitory computer-readable media described herein may also include operations, features, units, or instructions for performing the following: sending an indication of sensing data measured by the UE. Attached Figure Description

[0024] Figure 1 An example of a wireless communication system supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown.

[0025] Figure 2 An example of a wireless communication system supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown.

[0026] Figures 3A-3C An example of a wireless communication system supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown.

[0027] Figure 4 An example of a process supporting power-efficient iterative sensor fusion based on various aspects of this disclosure is shown.

[0028] Figure 5 and 6A block diagram of a device supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown.

[0029] Figure 7 A block diagram of a communication manager supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown.

[0030] Figure 8 A diagram of a system including a device supporting power-efficient iterative sensor fusion is shown, according to various aspects of this disclosure.

[0031] Figures 9 to 12 A flowchart illustrating a method for supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Detailed Implementation

[0032] User equipment (UE) (such as vehicle-based UEs (v-UEs)) can be used for sensing operations using a variety of sensors. For example, a UE can be configured with light detection and ranging (LIDAR) sensors, single-camera sensors, stereo camera sensors, ranging sensors, etc., and can use sensors to measure the UE's environment in the vicinity of the UE (e.g., to identify and / or quantify structures, pedestrians, other vehicles, etc.). The UE can obtain its own sensing data (e.g., intrinsic sensing data) that it sends to a base station (e.g., a roadside unit (RSU)). The base station collects intrinsic sensing data from multiple UEs and formulates extrinsic sensing data (e.g., a comprehensive or unified determination of the environment by combining intrinsic sensing data from multiple UEs). The base station can send extrinsic data to the UE for environmental awareness. However, there is currently no mechanism to detail how a UE typically uses its intrinsic and / or extrinsic sensing data, and more specifically, to improve the efficiency of sensing operations. For example, in some wireless communication systems, v-UEs simply always default to using all available sensors. However, this approach can be costly in terms of power usage and congestion within the sensing area (e.g., multiple v-UEs performing LiDAR sensing in a small area, leading to collisions). Therefore, the aspects of the described technology offer a more efficient and deliberate approach to how v-UEs select / update the sensors they will use.

[0033] The aspects of this disclosure are first described in the context of wireless communication systems. In summary, the described techniques provide various methods to improve sensor operations performed by user equipment (UE), such as vehicle-based UEs (v-UEs). For example, in one approach, the UE may initially select which sensor(s)(s) to use for sensing operations (e.g., rather than always using all available sensors). The UE may initially select which sensor(s) to use randomly, based on its own identifier, etc. The UE may use its selected sensors to perform sensing operations and report its intrinsic sensing data (e.g., first sensing data) to a base station, which responds with extrinsic sensing data (e.g., second sensing data, etc.). The extrinsic sensing data may correspond to a unified sensing report from the base station based on sensing reports received from multiple UEs. The UE may update the sensors to be used for subsequent sensing operations based on its own intrinsic and extrinsic sensing data. This can improve the UE's sensing operations by saving power, minimizing unnecessary sensing, etc.

[0034] In another approach, the UE can receive external sensing data (e.g., sensing reports) from the base station and select which sensor(s) to use based on this external sensing data (e.g., initially, it may not have its own internal sensing data for sensor selection). For example, the UE can receive external sensing data from the base station in a sensing report and select a subset of its available sensors for subsequent sensing operations based on this external sensing data. For example, the UE can determine the accuracy, completeness, reliability, etc., of environmental details based on the external sensing data and then select a subset of sensors in response. For example, highly reliable external sensing data may indicate that additional sensors are not needed, while less reliable external sensing data may indicate that additional sensors are appropriate. Therefore, the UE can update which sensors should be used for sensing operations based on internal and / or external sensing data.

[0035] Various aspects of this disclosure are further illustrated by device diagrams, system diagrams, and flowcharts involving power-efficient iterative sensor fusion, and are described with reference to these diagrams.

[0036] Figure 1Examples of a wireless communication system 100 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure are shown. The wireless communication system 100 may include one or more base stations 105, one or more user units (UEs) 115, and a core network 130. In some examples, the wireless communication system 100 may be a Long Term Evolution (LTE) network, an improved LTE (LTE-A) network, an LTE-A Pro network, or a New Radio (NR) network. In some examples, the wireless communication system 100 may support enhanced broadband communication, ultra-reliable (e.g., mission-critical) communication, low-latency communication, or communication with low-cost and low-complexity devices, or any combination thereof.

[0037] Base stations 105 can be distributed throughout a geographical area to form a wireless communication system 100, and can be devices of different forms or with different capabilities. Base stations 105 and UE 115 can communicate wirelessly via one or more communication links 125. Each base station 105 can provide a coverage area 110, on which UE 115 and base station 105 can establish one or more communication links 125. Coverage area 110 can be an example of a geographical area where base station 105 and UE 115 can support signal transmission according to one or more wireless access technologies.

[0038] UE 115 can be distributed throughout the entire coverage area 110 of the wireless communication system 100, and each UE 115 can be stationary, mobile, or both at different times. UE 115 can be devices of different forms or with different capabilities. Figure 1 Some example UE 115s are shown in the document. The UE 115 described herein is capable of communicating with various types of devices, such as other UE 115s, base station 105, or network devices (e.g., core network nodes, relay devices, integrated access and backhaul (IAB) nodes, or other network devices), such as... Figure 1 As shown.

[0039] Base station 105 can communicate with core network 130, communicate with each other, or perform both operations. For example, base station 105 can interface with core network 130 via one or more backhaul links 120 (e.g., via S1, N2, N3, or another interface). Base station 105 can communicate directly (e.g., directly between base stations 105) on backhaul links 120 (e.g., via X2, Xn, or other interfaces), or indirectly (e.g., via core network 130), or perform both operations. In some examples, backhaul link 120 can be one or more radio links or may include one or more radio links.

[0040] One or more of the base stations 105 described herein may include, or may be referred to by those skilled in the art as, a base station transceiver, a wireless base station, an access point, a wireless transceiver, a node B, an evolved node B (eNB), a next-generation node B or a gigabit node B (any of which may be referred to as gNB), a home node B, a home evolved node B, or some other suitable term.

[0041] UE 115 may include or be referred to as a mobile device, wireless device, remote device, handheld device, or user equipment, or some other suitable term, wherein "device" may also be referred to as a cell, station, terminal, or client, and other examples. UE 115 may also include or be referred to as a personal electronic device, such as a cellular phone, personal digital assistant (PDA), tablet computer, laptop computer, or personal computer. In some examples, among others, UE 115 may include or be referred to as a wireless local loop (WLL) station, Internet of Things (IoT) device, Internet of Everything (IoE) device, or machine-type communication (MTC) device, which, among other examples, may be implemented in various objects such as electrical appliances, vehicles, or instruments.

[0042] The UE 115 described herein is capable of communicating with various types of devices, such as other UEs 115 that can sometimes act as repeaters, as well as base station 105 and network devices, including, among other examples, macro eNBs or gNBs, small cell eNBs or gNBs, or relay base stations, such as... Figure 1 As shown in the image.

[0043] UE 115 and base station 105 can communicate wirelessly with each other via one or more communication links 125 on one or more carriers. The term "carrier" refers to a set of radio frequency spectrum resources having a defined physical layer structure for supporting communication link 125. For example, a carrier for communication link 125 may include a portion of a radio frequency spectrum band (e.g., a bandwidth portion (BWP)) that operates according to one or more physical layer channels for a given radio access technology (e.g., LTE, LTE-A, LTE-A Pro, NR). Each physical layer channel may carry acquisition signaling (e.g., synchronization signals, system information), control signaling coordinating the operation of the carrier, user data, or other signaling. Wireless communication system 100 can support communication with UE 115 using carrier aggregation or multi-carrier operation. Depending on the carrier aggregation configuration, UE 115 can be configured with multiple downlink component carriers and one or more uplink component carriers. Carrier aggregation can be used in conjunction with both frequency division duplex (FDD) component carriers and time division duplex (TDD) component carriers.

[0044] In some examples (e.g., in a carrier aggregation configuration), the carrier may also have acquisition or control signaling that coordinates operation against other carriers. The carrier may be associated with a frequency channel (e.g., an Evolved Universal Mobile Telecommunications System Terrestrial Radio Access (E-UTRA) Absolute Radio Frequency Channel Number (EARFCN)) and may be positioned according to a channel grid for discovery by UE 115. The carrier may operate in standalone mode, where UE 115 performs initial acquisition and connection via the carrier, or the carrier may operate in non-standalone mode, where different carriers (e.g., the same or different radio access technologies) are used to anchor the connection.

[0045] The communication link 125 shown in the wireless communication system 100 may include uplink transmission from UE 115 to base station 105, or downlink transmission from base station 105 to UE 115. The carrier may carry downlink or uplink communication (e.g., in FDD mode) or may be configured to carry both downlink and uplink communication (e.g., in TDD mode).

[0046] A carrier can be associated with a specific bandwidth of the radio frequency spectrum, and in some examples, the carrier bandwidth can be referred to as the carrier or the “system bandwidth” of the wireless communication system 100. For example, the carrier bandwidth can be one of a number of defined bandwidths for a specific radio access technology (e.g., 1.4, 3, 5, 10, 15, 20, 40, or 80 MHz). Devices of the wireless communication system 100 (e.g., base station 105, UE 115, or both) can have a hardware configuration that supports communication on a specific carrier bandwidth, or can be configured to support communication on one carrier bandwidth in a set of carrier bandwidths. In some examples, the wireless communication system 100 may include a base station 105 or UE 115 that supports simultaneous communication via carriers associated with multiple carrier bandwidths. In some examples, each served UE 115 can be configured to operate on a portion (e.g., a subband, BWP) or all of the carrier bandwidth.

[0047] The signal waveform transmitted on a carrier can consist of multiple subcarriers (e.g., using multicarrier modulation (MCM) techniques such as Orthogonal Frequency Division Multiplexing (OFDM) or Discrete Fourier Transform Spread Spectrum OFDM (DFT-S-OFDM)). In a system employing MCM, a resource element can consist of one symbol period (e.g., the duration of a modulation symbol) and one subcarrier, where the symbol period and subcarrier spacing are inversely related. The number of bits carried by each resource element can depend on the modulation scheme (e.g., the order of the modulation scheme, the coding rate of the modulation scheme, or both). Therefore, the more resource elements UE 115 receives and the higher the order of the modulation scheme, the higher the data rate can be for UE 115. Wireless communication resources can refer to a combination of radio frequency spectrum resources, temporal resources, and spatial resources (e.g., spatial layers or beams), and the use of multiple spatial layers can further increase the data rate or data integrity used for communication with UE 115.

[0048] One or more digital schemes (numerologies) can be supported for a carrier, where the digital scheme may include a subcarrier spacing (Δf) and a cyclic prefix. A carrier can be divided into one or more BWPs with the same or different digital schemes. In some examples, UE 115 can be configured with multiple BWPs. In some examples, a single BWP for a carrier can be active at a given time, and communication for UE 115 can be restricted to one or more active BWPs.

[0049] It can be expressed in a basic unit of time (which can be, for example, T). s =1 / (Δf) max ·N f The sampling period is ) seconds, where Δf max This can represent the maximum supported subcarrier spacing, and N f The time interval for base station 105 or UE 115 can be represented as a multiple of the maximum supported Discrete Fourier Transform (DFT) size. The time interval for communication resources can be organized based on radio frames, each having a specified duration (e.g., 10 milliseconds (ms)). Each radio frame can be identified by a System Frame Number (SFN) (e.g., ranging from 0 to 1023).

[0050] Each frame may include multiple consecutively numbered subframes or time slots, and each subframe or time slot may have the same duration. In some examples, a frame may be divided (e.g., in the time domain) into subframes, and each subframe may be further divided into multiple time slots. Alternatively, each frame may include a variable number of time slots, and the number of time slots may depend on the subcarrier spacing. Each time slot may include multiple symbol periods (e.g., this depends on the length of the cyclic prefix added before each symbol period). In some wireless communication systems 100, time slots may be further divided into multiple micro-time slots containing one or more symbols. Excluding the cyclic prefix, each symbol period may contain one or more (e.g., N) f (Number) sampling periods. The duration of a symbol period can depend on the subcarrier spacing or the operating frequency band.

[0051] A subframe, time slot, micro-time slot, or symbol can be the smallest scheduling unit of the wireless communication system 100 (e.g., in the time domain) and can be referred to as a transmission time interval (TTI). In some examples, the duration of the TTI (e.g., the number of symbol periods in the TTI) can be variable. Alternatively, the smallest scheduling unit of the wireless communication system 100 can be dynamically selected (e.g., in a burst of shortened TTIs (sTTIs)).

[0052] Physical channels can be multiplexed on a carrier using various techniques. For example, one or more of Time Division Multiplexing (TDM), Frequency Division Multiplexing (FDM), or hybrid TDM-FDM techniques can be used to multiplex physical control channels and physical data channels on a downlink carrier. A control region (e.g., a control resource set (CORESET)) for physical control channels can be defined by multiple symbol periods and can extend over the system bandwidth or a subset of the system bandwidth of the carrier. One or more control regions (e.g., CORESETs) can be configured for a set of UEs 115. For example, one or more UEs in UE 115 can monitor or search for control regions for control information based on one or more search space sets, and each search space set can include one or more control channel candidates from one or more aggregation levels arranged in a cascaded manner. An aggregation level for control channel candidates can refer to the number of control channel resources (e.g., control channel elements (CCEs)) associated with coded information for a control information format having a given payload size. The search space set may include a common search space set configured to send control information to multiple UEs 115 and a UE-specific search space set used to send control information to a specific UE 115.

[0053] Each base station 105 may provide communication coverage via one or more cells (e.g., macro cells, small cells, hotspots, or other types of cells, or any combination thereof). The term "cell" may refer to a logical communication entity used (e.g., on a carrier) to communicate with base station 105 and may be associated with an identifier used to distinguish neighboring cells (e.g., Physical Cell Identifier (PCID), Virtual Cell Identifier (VCID), or other identifier). In some examples, a cell may also refer to a geographic coverage area 110 or a portion of geographic coverage area 110 (e.g., a sector) on which a logical communication entity operates. Depending on various factors (such as the capabilities of base station 105), the range of such cells can range from small areas (e.g., structures, subsets of structures) to large areas. For example, a cell may be or include buildings, subsets of buildings, or external space between or overlapping geographic coverage areas 110, and other examples.

[0054] Macro cells typically cover a relatively large geographical area (e.g., a radius of several kilometers) and can allow unrestricted access by UE 115 with a service subscription to a network provider supporting the macro cell. In contrast, small cells can be associated with a lower-power base station 105 and can operate in the same or different (e.g., licensed, unlicensed) frequency bands as macro cells. Small cells can provide unrestricted access to UE 115 with a service subscription to a network provider, or restricted access to UE 115 associated with the small cell (e.g., UE 115 in a Closed Subscriber Group (CSG), or UE 115 associated with a user in a residence or office). Base station 105 can support one or more cells and can also support communication on one or more cells using one or more component carriers.

[0055] In some examples, a carrier can support multiple cells and can be configured with different cells based on different protocol types that can provide access for different types of devices (e.g., MTC, Narrowband IoT (NB-IoT), Enhanced Mobile Broadband (eMBB)).

[0056] In some examples, base station 105 may be mobile, and therefore provide communication coverage for mobile geographic coverage areas 110. In some examples, different geographic coverage areas 110 associated with different technologies may overlap, but the different geographic coverage areas 110 may be supported by the same base station 105. In other examples, overlapping geographic coverage areas 110 associated with different technologies may be supported by different base stations 105. Wireless communication system 100 may include, for example, a heterogeneous network, in which different types of base stations 105 use the same or different wireless access technologies to provide coverage for various geographic coverage areas 110.

[0057] The wireless communication system 100 can support synchronous or asynchronous operation. For synchronous operation, base stations 105 can have similar frame timings, and transmissions from different base stations 105 can be approximately time-aligned. For asynchronous operation, base stations 105 can have different frame timings, and in some examples, transmissions from different base stations 105 may not be time-aligned. The techniques described herein can be used for both synchronous and asynchronous operation.

[0058] Some UE 115s (e.g., MTC or IoT devices) can be low-cost or low-complexity devices and can provide automated machine-to-machine communication (e.g., via machine-to-machine (M2M) communication). M2M communication or MTC can refer to data communication technologies that allow devices to communicate with each other or with base station 105 without human intervention. In some examples, M2M communication or MTC can include communication from devices that have integrated sensors or meters to measure or capture information and relay such information to a central server or application that uses the information or presents it to humans interacting with the application. Some UE 115s can be designed to collect information or automate the behavior of machines or other devices. Examples of applications for MTC devices include smart metering, inventory monitoring, water level monitoring, equipment monitoring, healthcare monitoring, wildlife monitoring, climate and geological event monitoring, fleet management and tracking, remote security sensing, physical access control, and transaction-based billing.

[0059] Some UE 115s can be configured to operate in a power-saving mode, such as half-duplex communication (e.g., a mode that supports unidirectional communication via either transmission or reception, rather than simultaneous transmission and reception). In some examples, half-duplex communication may be performed at a reduced peak rate. Other power-saving techniques for UE 115 include entering a power-saving deep sleep mode when not engaged in active communication, when operating on limited bandwidth (e.g., according to narrowband communication), or a combination of these techniques. For example, some UE 115s can be configured to operate using a narrowband protocol type associated with a defined portion or range (e.g., a set of subcarriers or resource blocks (RBs) within a carrier, within a carrier's guard band, or outside a carrier.

[0060] Wireless communication system 100 can be configured to support ultra-reliable communication or low-latency communication, or various combinations thereof. For example, wireless communication system 100 can be configured to support ultra-reliable low-latency (URLLC) or mission-critical communication. UE 115 can be designed to support ultra-reliable, low-latency, or mission-critical functions (e.g., mission-critical functions). Ultra-reliable communication can include private or group communication and can be supported by one or more mission-critical services, such as mission-critical push-to-talk, mission-critical video (MCVideo), or mission-critical data (MCData). Support for mission-critical functions can include service prioritization, and mission-critical services can be used for public safety or general commercial applications. The terms ultra-reliable, low-latency, mission-critical, and ultra-reliable low-latency are used interchangeably herein.

[0061] In some examples, UE 115 can also communicate directly with other UE 115s on a device-to-device (D2D) communication link 135 (e.g., using peer-to-peer (P2P) or D2D protocols). One or more UEs 115s utilizing D2D communication can be within the geographic coverage area 110 of base station 105. Other UEs 115s in such a group can be outside the geographic coverage area 110 of base station 105, or otherwise unable to receive transmissions from base station 105. In some examples, multiple groups of UEs 115 communicating via D2D communication can utilize a one-to-many (1:M) system, where each UE 115 transmits to every other UE 115 in the group. In some examples, base station 105 facilitates the scheduling of resources for D2D communication. In some other cases, D2D communication is performed between UEs 115 without involving base station 105.

[0062] In some systems, the D2D communication link 135 may be an example of a communication channel (such as a sidelink communication channel) between vehicles (e.g., UE 115). In some examples, vehicles may communicate using vehicle-to-everything (V2X) communication, vehicle-to-vehicle (V2V) communication, or some combination of these. Vehicles may signal information relating to traffic conditions, signal control, weather, safety, emergencies, or any other information relating to the V2X system. In some examples, vehicles in a V2X system may communicate with roadside infrastructure (such as roadside units), or communicate with the network via one or more network nodes (e.g., base station 105) using vehicle-to-network (V2N) communication, or both.

[0063] Core network 130 can provide user authentication, access authorization, tracking, Internet Protocol (IP) connectivity, and other access, routing, or mobility functions. Core network 130 can be an evolved packet core (EPC) or a 5G core (5GC), and can include at least one control plane entity (e.g., a Mobility Management Entity (MME), Access and Mobility Management Function Unit (AMF)) for managing access and mobility, and at least one user plane entity (e.g., a Serving Gateway (S-GW), Packet Data Network (PDN) Gateway (P-GW), or User Plane Function Unit (UPF)) for routing or interconnecting packets to external networks. The control plane entity can manage non-access stratum (NAS) functions, such as mobility, authentication, and bearer management for UE 115 served by base station 105 associated with core network 130. User IP packets can be transmitted through the user plane entity, which can provide IP address allocation and other functions. The user plane entity can connect to IP services 150 for one or more network operators. IP services 150 may include access to the Internet, intranets, IP Multimedia Subsystem (IMS), or packet-switched streaming services.

[0064] Some network devices (e.g., base station 105) may include sub-components such as access network entity 140, which may be an example of an access node controller (ANC). Each access network entity 140 may communicate with UE 115 through one or more other access network transport entities 145 (which may be referred to as a radio headend, smart radio headend, or transmit / receive point (TRP)). Each access network transport entity 145 may include one or more antenna panels. In some configurations, the various functions of each access network entity 140 or base station 105 may be distributed across individual network devices (e.g., radio headends and ANCs) or incorporated into a single network device (e.g., base station 105).

[0065] Wireless communication system 100 can operate using one or more frequency bands (typically in the range of 300 MHz to 300 GHz). The region from 300 MHz to 3 GHz is often referred to as the Ultra High Frequency (UHF) region or decimeter band because the wavelength range extends from approximately one decimeter to one meter in length. UHF waves may be blocked or redirected by buildings and environmental features, but the waves can be sufficiently permeable to penetrate structures for use in macrocells to provide service to UE 115 located indoors. Compared to the smaller frequencies and longer waves of the lower 300 MHz portion of the spectrum used in the High Frequency (HF) or Very High Frequency (VHF) regions, UHF wave transmission can be associated with smaller antennas and shorter distances (e.g., less than 100 km).

[0066] The wireless communication system 100 can also operate in the ultra-high frequency (SHF) region using a frequency band from 3 GHz to 30 GHz (also referred to as the centimeter band) or in the extremely high frequency (EHF) region of the spectrum (e.g., from 30 GHz to 300 GHz) (also referred to as the millimeter band). In some examples, the wireless communication system 100 can support millimeter-wave (mmW) communication between the UE 115 and the base station 105, and the EHF antennas of the corresponding device can be even smaller and more closely spaced compared to UHF antennas. In some examples, this can facilitate the use of antenna arrays within the device. However, EHF transmissions may suffer from even greater atmospheric attenuation and shorter distances compared to SHF or UHF transmissions. The techniques disclosed herein can be employed across transmissions using one or more different frequency regions, and the designated use of frequency bands across these frequency regions may vary depending on the country or regulatory authority.

[0067] Wireless communication system 100 can utilize both licensed and unlicensed radio frequency spectrum bands. For example, wireless communication system 100 can employ Licensed Assisted Access (LAA), LTE Unlicensed (LTE-U) radio access technology, or NR technology in unlicensed frequency bands (such as the 5 GHz Industrial, Scientific, and Medical (ISM) band). When operating in unlicensed radio frequency spectrum bands, devices (such as base station 105 and UE 115) can employ carrier sensing for collision detection and avoidance. In some examples, operation in unlicensed frequency bands can be based on carrier aggregation configurations that combine component carriers operating in licensed frequency bands (e.g., LAA). Among other examples, operation in unlicensed spectrum can include downlink transmissions, uplink transmissions, peer-to-peer (P2P) transmissions, or digital-to-digital (D2D) transmissions.

[0068] Base station 105 or UE 115 may be equipped with multiple antennas, which can be used to employ techniques such as transmit diversity, receive diversity, multiple-input multiple-output (MIMO) communication, or beamforming. The antennas of base station 105 or UE 115 may be located within one or more antenna arrays or antenna panels (which may support MIMO operation or transmit or receive beamforming). For example, one or more base station antennas or antenna arrays may be co-located at an antenna assembly, such as an antenna tower. In some examples, the antennas or antenna arrays associated with base station 105 may be located in different geographical locations. Base station 105 may have an antenna array with rows and columns of antenna ports that base station 105 can use to support beamforming for communication with UE 115. Similarly, UE 115 may have one or more antenna arrays that can support various MIMO or beamforming operations. Alternatively or additionally, the antenna panel may support radio frequency beamforming for signals transmitted via the antenna ports.

[0069] Base station 105 or UE 115 can use MIMO communication to utilize multipath signal propagation and improve spectral efficiency by transmitting or receiving multiple signals via different spatial layers. Such a technique can be called spatial multiplexing. For example, a transmitting device can transmit multiple signals via different antennas or different combinations of antennas. Similarly, a receiving device can receive multiple signals via different antennas or different combinations of antennas. Each of the multiple signals can be referred to as a separate spatial stream and can carry bits associated with the same data stream (e.g., the same codeword) or different data streams (e.g., different codewords). Different spatial layers can be associated with different antenna ports used for channel measurement and reporting. MIMO techniques include single-user MIMO (SU-MIMO) (where multiple spatial layers are transmitted to the same receiving device) and multi-user MIMO (MU-MIMO) (where multiple spatial layers are transmitted to multiple devices).

[0070] Beamforming (which may also be referred to as spatial filtering, directional transmission, or directional reception) is a signal processing technique that can be used at a transmitting or receiving device (e.g., base station 105 or UE 115) to form or guide an antenna beam (e.g., a transmit beam, a receive beam) along a spatial path between the transmitting and receiving devices. Beamforming can be achieved by combining signals transmitted via antenna elements of an antenna array such that some signals propagating in a particular orientation relative to the antenna array experience constructive interference, while other signals experience destructive interference. Adjustments to the signals transmitted via the antenna elements can include applying amplitude offset, phase offset, or both to the signals carried via the antenna elements associated with the transmitting or receiving device. The adjustments associated with each antenna element can be defined by a set of beamforming weights associated with a particular orientation (e.g., relative to the antenna array of the transmitting or receiving device, or relative to some other orientation).

[0071] As part of beamforming operations, base station 105 or UE 115 may use beam scanning techniques. For example, base station 105 may use multiple antennas or antenna arrays (e.g., antenna panels) to perform beamforming operations for directional communication with UE 115. Base station 105 may transmit some signals (e.g., synchronization signals, reference signals, beam selection signals, or other control signals) multiple times in different directions. For example, base station 105 may transmit signals according to different sets of beamforming weights associated with different transmission directions. Transmissions in different beam directions may be used (e.g., by a transmitting device (such as base station 105) or by a receiving device (such as UE 115)) to identify the beam direction for subsequent transmissions or receptions performed by base station 105.

[0072] Base station 105 may transmit signals (e.g., data signals associated with a specific receiving device, such as UE 115) in a single beam direction (e.g., a direction associated with a particular receiving device, such as UE 115). In some examples, the beam direction associated with transmission along a single beam direction may be determined based on signals transmitted in one or more beam directions. For example, UE 115 may receive one or more signals transmitted by base station 105 in different directions and may report to base station 105 an indication of the signal received by UE 115 that has the highest signal quality or otherwise acceptable signal quality.

[0073] In some examples, multiple beam directions can be used to perform transmissions by a device (e.g., base station 105 or UE 115), and the device can use a combination of digital precoding or radio frequency beamforming to generate combined beams for (e.g., from base station 105 to UE 115) transmissions. UE 115 can report feedback indicating precoding weights for one or more beam directions, and this feedback can correspond to a configured number of beams spanning the system bandwidth or one or more subbands. Base station 105 can transmit reference signals that can be precoded or unprecoded (e.g., cell-specific reference signals (CRS), channel state information reference signals (CSI-RS)). UE 115 can provide feedback on beam selection, which can be a precoding matrix indicator (PMI) or codebook-based feedback (e.g., multi-panel type codebook, linear combination type codebook, port selection type codebook). Although these techniques are described with reference to signals transmitted by base station 105 in one or more directions, UE 115 may employ similar techniques to transmit signals multiple times in different directions (e.g., to identify beam directions for subsequent transmissions or receptions by UE 115) or to transmit signals in a single direction (e.g., to transmit data to a receiving device).

[0074] When receiving various signals (such as synchronization signals, reference signals, beam selection signals, or other control signals) from base station 105, the receiving device (e.g., UE 115) can attempt multiple receiving configurations (e.g., directional listening). For example, the receiving device can attempt multiple receiving directions by receiving via different antenna subarrays, by processing the received signals according to different antenna subarrays, by receiving according to different sets of receiving beamforming weights applied to signals received at multiple antenna elements of the antenna array (e.g., different sets of directional listening weights), or by processing the received signals according to different sets of receiving beamforming weights applied to signals received at multiple antenna elements of the antenna array (any of these operations can be referred to as "listening" according to different receiving configurations or receiving directions). In some examples, the receiving device can use a single receiving configuration to receive along a single beam direction (e.g., when receiving data signals). A single receiver configuration can be aligned to a beam direction determined based on listening in different receiver configuration directions (e.g., a beam direction determined to have the highest signal strength, highest signal-to-noise ratio (SNR), or otherwise acceptable signal quality based on listening in multiple beam directions).

[0075] The wireless communication system 100 can be a packet-based network operating according to a layered protocol stack. In the user plane, communication at the bearer or Packet Data Convergence Protocol (PDCP) layer can be IP-based. The Radio Link Control (RLC) layer can perform packet fragmentation and reassembly for transmission over logical channels. The Media Access Control (MAC) layer can perform priority handling and multiplexing of logical channels to transport channels. The MAC layer can also use error detection techniques, error correction techniques, or both to support retransmissions at the MAC layer to improve link efficiency. In the control plane, the Radio Resource Control (RRC) protocol layer can provide the establishment, configuration, and maintenance of RRC connections (which support radio bearers for user plane data) between the UE 115 and the base station 105 or core network 130. At the physical layer, transport channels can be mapped to physical channels.

[0076] UE 115 and base station 105 can support data retransmission to increase the likelihood of successful data reception. Hybrid Automatic Repeat Request (HARQ) feedback is a technique used to increase the likelihood of correct data reception on communication link 125. HARQ can include a combination of error detection (e.g., using Cyclic Redundancy Check (CRC)), forward error correction (FEC), and retransmission (e.g., Automatic Repeat Request (ARQ)). HARQ can improve throughput at the MAC layer under poor radio conditions (e.g., low signal and noise conditions). In some examples, the device can support same-slot HARQ feedback, where the device can provide HARQ feedback for data received in a previous symbol within a specific time slot. In other examples, the device can provide HARQ feedback in subsequent time slots or according to some other time interval.

[0077] UE 115 (e.g., v-UE) may select a first subset of sensors from its available sensor set, each sensor in the available sensor set associated with a sensor type, based at least in part on sensor selection criteria. UE 115 may use the first subset of sensors to perform sensing operations to obtain first sensing data, which includes sensing data measured by UE 115 during the sensing operation. UE 115 may send a first sensing report indicating the first sensing data. UE 115 may receive a second sensing report indicating second sensing data, based at least in part on the first sensing report, which includes a unified sensing report based on the first sensing report from UE 115 and one or more additional sensing reports from other UEs.

[0078] UE 115 (e.g., v-UE) may receive sensing reports indicating sensing data, including a unified sensing report based on one or more sensing reports associated with other UEs. UE 115 may select a first subset of sensors from its available sensor set, each sensor in the available sensor set associated with a sensor type, based at least in part on the sensing reports. UE 115 may use the first subset of sensors to perform sensing operations to obtain sensing data measured by the UE during the sensing operations.

[0079] Figure 2 An example of a wireless communication system 200 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. The wireless communication system 200 may implement various aspects of the wireless communication system 100. The wireless communication system 200 may include UE 205, UE 210, UE 215, and RSU 220, which may be examples of the corresponding devices described herein. For example, UE 205, UE 210, and / or UE 215 may be examples of v-UE or VUE as described herein. RSU 220 may be an example of various aspects of a base station as described herein. For example, RSU 220 may be implemented in a base station as a functional component communicating with the base station, etc. In another example, RSU 220 may be a separate component / function communicating with the base station and monitoring, controlling, or otherwise managing aspects of VUE-based communication, sensing operations, etc.

[0080] Typically, it is impossible / impractical for a vehicle (e.g., a v-UE, such as UE 205, UE 210, and / or UE 215) to sense all / every object in its surroundings in order to clearly understand context awareness. For example, occluding objects (e.g., buildings, trees, other VUEs, etc.) may obstruct UE 205's field of view, preventing it from seeing pedestrians crossing the intersection in front of UE 210. This can happen even if the vehicle (e.g., UE 205) uses all its available sensors (e.g., light detection and ranging (LIDAR), radio detection and ranging (RADAR), camera sensors, etc.). In some cases, this can pose a danger to pedestrians crossing the intersection, other pedestrians, and other VUEs.

[0081] To address the issue of vehicles (e.g., UE 205, UE 210, and / or UE 215) lacking accurate perception of their surroundings, the sharing of sensor information is often used. This involves vehicles exchanging information associated with objects they sense, thereby gaining a more global, context-aware view. However, vehicle object perception is prone to errors. Examples of errors include, but are not limited to, positional errors of sensed objects due to inherent sensor errors, data association errors (e.g., identifying pedestrians close to each other where their bounding boxes completely overlap), etc. To ensure all vehicles in the system gain a global view, it is natural that sensing is not only performed independently by each vehicle but also collaboratively by such vehicles sharing their sensing data.

[0082] As a non-limiting example, sensed objects 1 (OBJ-1), OBJ-2, ​​etc. (e.g., pedestrians, other vehicles, buildings, etc.) can typically represent objects that nodes 1, 2, 3 (e.g., VUE1, VUE2, VUE3, etc.) are attempting to detect. In one example, OBJ-1 may be pre-configured to be detected at a first location, OBJ-2 at a second location, and so on. Nodes 1, 2, and 3 (e.g., VUEs) can provide (e.g., at a specific geographic location) intrinsic information about the sensed objects to another node (such as node 0 (e.g., RSU 220)) (e.g., first sensing data, which can also be considered sensing data measured by the UE). The intrinsic information sent by node 1 represents its own perception of the sensed objects, for example, sensing data obtained by node 1 (e.g., UE 205) using its own sensors. Node 0 (e.g., RSU 220) typically collects intrinsic information sent by Nodes 1, 2, and / or 3, and sends extrinsic information (e.g., second sensing data sent in a unified sensing report) to each of Nodes 1, 2, and / or 3. Extrinsic information refers to information that each of Nodes 1, 2, and / or 3 does not initially possess. That is, the extrinsic information provided via the sensing report can define the unified sensing report based on the sensing reports provided by Nodes 1, 2, and / or 3 to Node 0. For example, the extrinsic information sent from Node 0 (e.g., RSU 220) to Node 1 (e.g., UE 205) would be a combination of intrinsic information obtained from Node 2 (e.g., UE 210) and Node 3 (e.g., UE 215), which was not initially possessed by Node 1 (e.g., UE 205). The extrinsic information sent from Node 0 to Node 2 would be a combination of intrinsic information obtained from Nodes 1 and 3, which was not initially possessed by Node 2. Finally, Nodes 1, 2, and / or 3 can infer the presence of the sensed object from both the intrinsic and extrinsic information.

[0083] Furthermore, there is a power penalty associated with the VUE consistently using all its available sensors to obtain contextual awareness of the vehicle (e.g., power usage exceeding a threshold). For example, as Figure 2 As shown, even if VUE uses all of its available sensors, there is no guarantee that the vehicle will be able to obtain accurate sensing of its surroundings (e.g., due to obstacles such as buildings).

[0084] Such techniques typically fail to address many aspects of iterative sensing operations within wireless communication systems. One example may include a lack of support regarding how nodes 1, 2, and / or 3 (e.g., UE 205, UE 210, and UE 215, respectively) should send initial intrinsic information to node 0 when performing cooperative sensor fusion. Another example may include how these nodes should send subsequent intrinsic information to node 0 based on extrinsic information provided by node 0 (e.g., RSU 220) to each of nodes 1, 2, and / or 3. In yet another example, based on extrinsic information provided by node 0, how nodes 1, 2, and / or 3 can adjust their respective sensor capabilities in a manner that improves power efficiency during sensing operations while achieving the most accurate contextual awareness (e.g., a global view) of their surroundings.

[0085] Therefore, the described aspects of the technology provide various mechanisms to improve iterative sensing operations within the wireless communication system 200. Such techniques typically provide UE 205, UE 210, and / or UE 215 with mechanisms to improve power efficiency, the cumulative results of iterative sensing operations, etc. Initially, it should be understood that each of UE 205, UE 210, and / or UE 215 may have a set of available sensors that can be used for sensing operations. Each available sensor may be associated with a specific sensor type (e.g., such as a LiDAR sensing type, a RADAR sensing type, a camera sensing type (e.g., a single-camera, a stereo camera, etc.), a ranging sensor type, etc.). As a non-limiting example, this may include node 1 (e.g., UE 205) being equipped with a LiDAR sensor, a RADAR sensor, and a camera sensor, node 2 (e.g., UE 210) being equipped with a LiDAR sensor, a single-camera sensor, a stereo camera sensor, and so on.

[0086] The described techniques broadly define various mechanisms by which a UE (such as UE 205, UE 210, and / or UE 215) can select a first subset of sensors from its set of available sensors. In other words, the described techniques provide a mechanism for a UE to select some sensors (e.g., a first subset) from its available sensors to perform sensing operations. The UE can select the sensors to be included in the first subset of sensors based on sensor selection criteria. UE sensor selection criteria can typically define rules or standards that the UE uses to determine which sensors will initially be included for sensing operations. This avoids the situation where each UE defaults to using all available sensors (which may be impractical or unnecessary in some examples). The UE can typically perform sensing operations to measure, identify, or otherwise acquire first sensing data (e.g., its intrinsic sensing data, which can also be considered sensing data measured by the UE).

[0087] In one example, the UE may randomly select a first subset of sensors from the available sensor set. That is, in one example, each node may select a random subset of its sensors to measure, identify, or otherwise obtain its initial intrinsic information. In a non-limiting example, Node 1 (e.g., UE 205) may select or choose its LIDAR and RADAR sensors as the first subset of sensors, while Node 2 (e.g., UE 210) may select or choose its single-camera sensor (e.g., to detect a pre-configured object at a pre-configured location). Because each node may select a subset of its available sensors, all nodes in the wireless communication system may use the same sensors or different sensors. This typically provides diversity regarding the sensors used to detect / quantize objects of interest. Therefore, in some examples, sensor selection criteria may include UE 205, UE 210, and / or UE 215 randomly selecting their respective first subsets of sensors for sensing operations.

[0088] In another example, the UE can select a first subset of sensors based on an identifier associated with the UE. That is, each node can select the number of sensors based on its own identifier. As an example, a node associated with an odd-numbered identifier can select one sensor to provide initial intrinsic information, while a node with an even-numbered identifier can select two sensors to provide its initial intrinsic information. Once the number of sensors is determined based on the identifiers, the actual sensors selected by the nodes can be random. For example, node 1 with an odd-numbered identifier can select a LIDAR sensor as its first subset of sensors, while node 2 with an even-numbered identifier can select both a LIDAR and a stereo camera sensor as its first subset of sensors. Therefore, in this example, sensor selection criteria could include each of UE 205, UE 210, and / or UE 215 selecting the number of sensors to include in the first subset and / or which sensors(s) to include based on their respective identifiers.

[0089] In another example, the UE can randomly select a first subset of sensors from the available sensor set based on a power usage metric associated with each sensor. That is, in this example, all nodes in the system can begin transmitting using only one sensor, which can be the same sensor across different UEs or different sensors. For example, each node in the system can select the sensor with the lowest power consumption (e.g., power usage metric). Even if all nodes select the same sensor (e.g., a LiDAR sensor), the fact that each node has a different perspective on the object of interest can improve the diversity of providing different initial intrinsic information from different nodes.

[0090] For example, Node 1 (e.g., UE 205) may have a clear line of sight when detecting a (pre-configured) object at a (pre-configured) location, while Node 2 (e.g., UE 210) may not have a clear line of sight (e.g., due to obstruction caused by buildings). Although Node 1 and 2 may still use the same sensors when detecting objects, Node 1 will likely have a higher level of confidence in its initial intrinsic information than Node 2.

[0091] The examples discussed above can have various characteristics. For instance, these techniques can ensure that not all sensors are always used by all nodes for initial intrinsic information transmission, thus saving power. Furthermore, each node transmits its initial intrinsic information (e.g., first sensing data) using a minimal number of sensors (making sensing operations power-efficient), yet still obtains a global view of the object due to the fact that different nodes have different perspectives on the same object. This allows nodes to transmit different intrinsic information based on their respective sensing operations.

[0092] Therefore, for example, when nodes can randomly / deterministically select sensors based on power levels, node 1 can select a sensor consuming power level p_1, while node 2 randomly selects a sensor consuming power level p_2, where p_1 > p_2. In one case, nodes with even-numbered identifiers can select sensors with a power threshold p_1, while nodes with odd-numbered identifiers can select sensors with a power threshold p_2.

[0093] Therefore, UE 205, UE 210, and / or UE 215 can each use sensors from their respective first subset of sensors to perform sensing operations to obtain first sensing data, and then each UE can send a first sensing report indicating the first sensing data. The first sensing report can be sent to a base station (such as RSU 220) that can monitor, control, or otherwise manage aspects of sensing operations within the wireless communication system 200. For example, the base station (e.g., RSU 220) can be configured or otherwise act as a device for receiving intrinsic sensing data from UEs within the wireless network. The base station can then identify, determine, or otherwise generate a unified sensing report based on the sensing reports (e.g., the first sensing reports received from the respective UEs). A unified sensing report received from multiple UEs within the wireless network can typically provide UE 205, UE 210, and / or UE 215 with a unified or more comprehensive understanding of context awareness. That is, the base station can send or otherwise provide a second sensing measurement report indicating second sensing data to each UE within the wireless network. In this context, the second sensing data may include a unified sensing report developed based on the first sensing reports received from various UEs within the network. In some aspects, the second sensing data may correspond to external sensing data / information, as it includes sensing data that was not initially detected or otherwise sensed by the receiving node.

[0094] The techniques described herein also provide various mechanisms by which such nodes (e.g., UE 205, UE 210, and / or UE 215) can perform subsequent sensing operations in a more efficient manner based on a second sensing report indicating second sensing data (e.g., extrinsic information). In other words, the described techniques address how nodes should collect and transmit subsequent intrinsic information in a power-efficient manner based on extrinsic information received from node 0 (e.g., RSU 220). For example, UE 205, UE 210, and / or UE 215 can perform additional sensing operations based on the second sensing report to obtain updated first sensing data (e.g., subsequent intrinsic information). UE 205, UE 210, and / or UE 215 can transmit a third sensing report indicating the updated first sensing data.

[0095] For example, let For node j at time t, use the initial intrinsic information provided by the first subset of sensors (e.g., first sensing data), and This refers to extrinsic information (e.g., second sensing data) received by node j (e.g., j = 1, 2, 3) from RSU 220 at time (t+1). In one example, node j may activate an additional sensor (on top of the sensor it uses at time t) at time t+1 based on the difference between the extrinsic and intrinsic information to send new intrinsic information (e.g., third sensing data) at time (t+1). Various options can be provided to support updating the subset of sensors used for sensing operations based on extrinsic and intrinsic sensing data.

[0096] In one example, this could include UE 205, UE 210, and / or UE 215 (in addition to their initial intrinsic information) using extrinsic information to determine that the correlation between unified sensing reports fails to meet an accuracy threshold. For example, if Then node j can use n1 additional sensors at time t+1 to detect objects, for example, to obtain additional features of the objects, thereby enabling the transmission of new intrinsic information at time t+1. Therefore, UE 205, UE 210 and / or UE 215 (e.g., any one of them can be considered node j) can select a second subset of sensors from the UE's available sensor set, wherein the second subset of sensors has more sensors than the first subset of sensors (e.g., the node can add sensors for subsequent sensing operations).

[0097] In another example, this could include UE 205, UE 210, and / or UE 215 (in addition to their initial intrinsic information) using extrinsic information to determine that the correlation between the unified sensing report and the first sensing data meets a sensing accuracy threshold. For example, if (For example, THR1≈0) indicates a condition where there is no significant difference between intrinsic and extrinsic information. This could mean that node j's view of the object's state is substantially the same as the views of other nodes (excluding node j) on the object. Therefore, node j can turn off some sensors to save power, as node j obtains minimal additional information from its own sensing. Thus, UE 205, UE 210, and / or UE 215 can select a second subset of available sensors, where the second subset has fewer sensors than the first subset.

[0098] In another example, the sensing accuracy threshold can be a range used to assess the accuracy or confidence level of extrinsic and intrinsic information. For example, a low-end sensing accuracy threshold could be defined as a threshold lower than the sensing accuracy thresholds discussed earlier. For example, if Then node j can use n² additional sensors at time t+1, for example, to obtain additional features of the object, thereby enabling the transmission of new intrinsic information at time (t+1).

[0099] In the example discussed above, n2 ≥ n1. That is, the greater the difference between extrinsic and intrinsic information, the more additional sensors node j activates (e.g., to track the object more closely (and carefully) in an attempt to infer more information about it). The more similar the extrinsic and intrinsic information, the more power node j can save by turning off its sensors or at least some of its sensors without losing the ability to gain a global view of the sensed object.

[0100] In the context of the first example, in one case, additional features might mean the following: for example, at time t, node j uses a LiDAR sensor to send information to represent the location of an object. Due to the difference or distinction between external and internal information, node j can activate its RADAR sensor at time (t+1) to obtain the range and velocity of the sensed object (which helps to estimate the position more accurately), and use it as... To send. Additional features indicate the range and velocity of the tracked object at time (t+1) due to the RADAR sensor being activated, which are unavailable to node j at time t. Therefore, UE 205, UE 210, and / or UE 215 can determine that the correlation between the unified sensing report and the first sensing data meets a low-end sensing accuracy threshold, which is a threshold lower than the sensing accuracy threshold. The selection of a second subset of sensors can be based on the correlation meeting the low-end sensing accuracy threshold, even if the correlation may not yet meet the original sensing accuracy threshold.

[0101] The techniques discussed above typically begin with UE 205, UE 210, and / or UE 215 sending their first sensing report, which indicates intrinsic information developed during their sensing operations. However, in some examples, UE 205, UE 210, and / or UE 215 do not have initial first sensing data. That is, in some examples, the UE (e.g., any one of UE 205, UE 210, and / or UE 215) can receive sensing data (e.g., extrinsic information) from RSU 220 to indicate a unified sensing report based on sensing reports associated with other UEs (e.g., other VUEs performing sensing operations within the wireless network). The UE can identify or otherwise select a first subset of sensors from the available sensor set based on the sensing report indicating extrinsic sensing data. The UE can then use the first subset of sensors to perform sensing operations to obtain sensing data (e.g., intrinsic information) measured by the UE.

[0102] In other words, in some examples, a node may initially lack its intrinsic information. In one example, a node (e.g., UE 205) may not send any intrinsic information at time t (e.g., it has no intrinsic information at time t). When extrinsic information is received at time (t+1), the node bases its decisions solely on that extrinsic information. To send new internal information In one example, this could include Node j uses n1 sensors at time t+1 to obtain additional features of the sensed object. This allows new intrinsic information to be transmitted at time t+1.

[0103] In another example, if Then node j can use n² additional sensors at time t+1 to send new intrinsic information at time t+1. In some examples, n2 may be zero, for instance, due to the fact that all other nodes strongly assume the presence of the sensed object. In this case, node j may not add new information from its own intrinsic senses.

[0104] Figures 3A-3CAn example of a wireless communication system 300 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. The wireless communication system 300 may implement various aspects of the wireless communication system 100. The wireless communication system 300 may include UE 305, UE 310, UE 315 and / or RSU 320, which may be examples of the corresponding devices described herein. For example, UE 305, UE 310 and / or UE 315 may be examples of v-UEs as described herein. The RSU 320 may be an example of a base station and / or device / function that controls, monitors or otherwise manages various aspects of sensing operations within the wireless communication system 300. Figures 3A-3C The general outline of the steps that can be taken according to the techniques discussed herein is shown, in which Figure 3A The wireless communication system 300-a illustrates the first step. Figure 3B The wireless communication system 300-b illustrates the second step, and Figure 3C The wireless communication system 300-c illustrates the third step.

[0105] As discussed herein, the described aspects of the technology provide various mechanisms that can be used for iterative sensing operations within a wireless communication system 300. For example, UE 305 (e.g., VUE1), UE 310 (e.g., VUE2), and / or UE 315 (e.g., VUE3) can determine, identify, or otherwise select a first subset of sensors from the available sensor set for sensing operations. That is, VUE1, VUE2, and / or VUE3 can each be equipped with an available sensor set (the same sensors and / or different sensors). Each sensor can be associated with a different sensor type (e.g., a LiDAR sensor type, a RADAR sensor type, etc.). Each sensor type can be associated with a power usage metric that indicates or is otherwise associated with the amount of power used by each sensor. VUE1, VUE2, and / or VUE3 can initially select sensors to be used in the first subset of sensors randomly, based on identifiers associated with the VUEs, based on power usage metrics associated with the sensors, etc.

[0106] Each VUE may use its respective first subset of sensors to perform sensing operations. For example, each of UE 305, UE 310, and / or UE 315 may use sensors selected for their respective first subset of sensors to perform sensing operations to measure, identify, or otherwise acquire first sensing data. In this context, the first sensing data may be sensing data (e.g., intrinsic sensing data or information) measured by the respective UE during the sensing operation. Each UE may then send or otherwise provide a first sensing report indicating its first sensing data.

[0107] For example, and first refer to Figure 3A In the wireless communication system 300-a, UE 305 can send a first sensing report to RSU 320 indicating its first sensing data. UE 310 can send a first sensing report to RSU 320 indicating its first sensing data. And UE 315 can send a first sensing report to RSU 320 indicating its first sensing data. That is, each node (e.g., VUE) can provide RSU 320 with intrinsic information about its confidence (C) interval (e.g., in the range [0,1]) indicating the presence of a sensed object. Figure 3A As shown, VUE1, VUE2, and VUE3 can each send first sensing data to RSU 320 with a confidence level of {0,1,1}, indicating the confidence level of each VUE in detecting a sensed object (e.g., a pedestrian) at location 2 (REG-2). That is, VUE1 considers (e.g., senses) that there is no object at REG-2 (i.e., confidence level (C) is 0), while VUE2 and VUE3 consider (e.g., sense) that there is an object at REG-2 (i.e., confidence level (C) is 1).

[0108] refer to Figure 3B In the wireless communication system 300-b, RSU 320 can receive first sensing data from a first sensing report from VUE1, VUE2, and / or VUE3. RSU 320 can receive intrinsic information from UEs within its network and use the first sensing data to determine or otherwise identify a unified sensing report (e.g., a comprehensive context map / perception). That is, RSU 320 receives intrinsic information from all nodes and then sends extrinsic information to each node. For example, RSU 320 can use the intrinsic information (e.g., the first sensing data contained in the first sensing report) to determine extrinsic data (e.g., second sensing data contained in a second sensing report returned to a VUE). In one example, the extrinsic information about REG-2 (e.g., the location of the sensed object) sent by RSU 320 to node 1 (e.g., VUE1) is based on the content about REG-2 indicated by nodes 2 and 3 in their respective first sensing reports. Figure 3B In the example, RSU 320 sends its second sensing data to the node, the second sensing data indicating a probability (p) indication (e.g., indicating p=1 to node 1), where p indicates the probability that a sensed object exists at location REG-2, as indicated by VUE2 and VUE3. Figure 3A As shown, both VUE2 and VUE3 indicate the presence of an object at location REG-2 (e.g., using the confidence (C) indication in the first sensing report).

[0109] Turn Figure 3C In the wireless communication system 300-c, UEs 305, 310, and / or UE 315 can each perform additional sensing operations to obtain updated first sensing data (e.g., third sensing data). For example, UE 305 (e.g., VUE1 or Node 1), UE 310 (e.g., VUE2 or Node 2), and / or UE 315 (e.g., VUE3 or Node 3) can select a second subset of sensors for the additional sensing operations based on extrinsic information received in a second sensing report from RSU 320 and their initial intrinsic information. For example, Node 1 has intrinsic information {p=0} at time t and extrinsic information {p=1} at time (t+1). Due to the high dissimilarity between the intrinsic and extrinsic information (e.g., the correlation fails to meet the sensing accuracy threshold), Node 1 can activate additional sensors (e.g., RADAR) to obtain the range and velocity of the object. After carefully tracking the object for a longer duration, Node 1 then obtains a higher confidence level regarding the existence of the object. At time t+1, using additional sensors, node 1 then estimates the new confidence level of the object as p = 0.3 and sends this information to RSU 320 in the third or updated sensing report.

[0110] Both nodes 2 and 3 receive extrinsic information with a probability indicator of {p = 0.5} from RSU 320 at time (t+1), while each node has intrinsic information of {p = 1} at time t. In this example, due to the extrinsic information, no new information (due to the 50% confidence level indicated by p = 0.5) is added to the already existing intrinsic information (with 100% confidence). Therefore, in one case, nodes 2 and 3 may choose to turn off one or more sensors (because they already have a strong understanding of the object due to the 100% confidence level). Alternatively, in one case, nodes 2 and 3 may not turn on additional sensors to obtain additional information about the same object by retaining the same set of sensors used at time t. Thus, nodes 2 and 3 can determine that the correlation between the unified sensing report (e.g., the second sensing report) and the first sensing data meets a sensing accuracy threshold. In this case, nodes 2 and 3 may either keep the original sensors as is or choose a second subset of sensors with fewer sensors than the first subset.

[0111] Therefore, at time (t+1), nodes 1, 2, and 3 can transmit new intrinsic information obtained by adding new sensors (such as node 1) or retaining the same / reduced sensors (such as nodes 2 and 3). To send different / reduced / additional features. Figure 3CThe diagram shows the internal information transmission at time (t+1).

[0112] Figure 4 An example of a process 400 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Process 400 can implement various aspects of wireless communication systems 100, 200, and / or 300. The aspects of process 400 can be implemented at or by VUE 405, VUE 410, VUE 415, and / or RSU 420 (which may be examples of the corresponding devices described herein).

[0113] As described above, the aspects of the described technology enable VUE 405, VUE 410, VUE 415, and / or RSU 420 to perform improved iterative sensing operations. In these discussions, each of VUE 405, VUE 410, and VUE 415 (e.g., nodes 1, 2, and 3, respectively) can each perform a sensing operation using a first subset of sensors, sending a first sensing report to RSU 420 indicating first sensing data (e.g., the result of the sensing operation). RSU 420 can determine a unified sensing report based on the first sensing reports received from VUE 405, VUE 410, and VUE 415. RSU 420 sends a second sensing report to VUE 405, VUE 410, and VUE 415, the second sensing report indicating second sensing data including the unified sensing data. VUE 405, VUE 410, and / or VUE 415 may update the sensor used for sensing operations based at least in part on their own first sensing data (e.g., their own intrinsic information) and second sensing reports (e.g., unified sensing reports indicating extrinsic information). For example, a VUE may update its selected sensor based on a confidence level that meets one or more accuracy thresholds.

[0114] For example, at 425, VUE 405 may send its first sensing report (e.g., intrinsic information) to RSU 420. Similarly, at 430, VUE 410 may send its first sensing report (e.g., intrinsic information) to RSU 420. And finally, at 435, VUE 415 may send its first sensing report (e.g., intrinsic information) to RSU 420. That is, each VUE may have already selected its first subset of sensors from its set of available sensors. The sensors included in the first subset of sensors may be selected randomly, based on the identifier of the selected VUE, based on the power usage metric associated with each sensor type, etc. Each VUE can then use the sensors included in its first subset of sensors to perform sensing operations to identify or otherwise obtain the first sensing data (intrinsic information) indicated in the corresponding first sensing report sent by each VUE.

[0115] At 440, RSU 420 can determine, identify, construct, or otherwise obtain a unified sensing report based on first sensing reports received from VUEs within the wireless network. That is, RSU 420 can receive each first sensing report from each node to indicate intrinsic information. RSU 420 can identify the confidence level associated with each first sensing report. Based on the intrinsic information indicated in each first sensing report and the associated confidence level, RSU 420 can use the intrinsic information from multiple perspectives to develop a comprehensive context-aware understanding of the environment (e.g., regarding the location, speed, direction of travel, and identification of sensed objects). RSU 420 can assign confidence level probabilistic metrics to one or more sensed objects included in the unified sensing report.

[0116] At 445, RSU 420 can send a second sensing report (e.g., external information) to VUE 405. Similarly, at 450, RSU 420 can send a second sensing report (e.g., external information) to VUE 410. And finally, at 455, RSU 420 can send a second sensing report (e.g., external information) to VUE 415. That is, each VUE can receive a second sensing report indicating external information. The external information can be compiled from internal information and provides additional context-aware information about the environment.

[0117] At 460, VUE 405 can update the sensors to be used for sensing operations based on the second sensing report and its own intrinsic information. At 465, VUE 410 can update the sensors to be used for sensing operations based on the second sensing report and its own intrinsic information. At 470, VUE 415 can update the sensors to be used for sensing operations based on the second sensing report and its own intrinsic information. That is, each VUE can update the sensors included in the first subset of sensors (e.g., the updated first or second subset of sensors). This can include adding some sensors, removing some sensors, and so on. For example, if the confidence level fails to meet a sensing accuracy threshold, each VUE can add sensors (e.g., add more sensors for sensing operations to better understand its context awareness). Conversely, if the confidence level meets the sensing accuracy threshold, each VUE can remove sensors (e.g., remove sensors used for sensing operations because the VUE has high confidence in its understanding of context awareness). In some examples, multiple sensing accuracy thresholds can be used to determine when and / or which sensors should be added or removed from the sensing operation.

[0118] Therefore, VUE 405, VUE 410 and / or VUE 415 can rely on the iterative process in coordination with RSU 420 to improve sensing efficiency without losing confidence in their context-aware understanding.

[0119] Figure 5 A block diagram 500 of a device 505 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Device 505 may be an example of various aspects of a UE 115 as described herein. Device 505 may include a receiver 510, a transmitter 515, and a communication manager 520. Device 505 may also include a processor. Each of these components may communicate with each other (e.g., via one or more buses).

[0120] Receiver 510 may provide a unit for receiving information (such as packets, user data, control information, or any combination thereof) associated with various information channels (e.g., control channels, data channels, information channels related to power-efficient iterative sensor fusion). The information may be transmitted to other components of device 505. Receiver 510 may utilize a single antenna or a collection of multiple antennas.

[0121] Transmitter 515 may provide a unit for transmitting signals generated by other components of device 505. For example, transmitter 515 may transmit information (such as packets, user data, control information, or any combination thereof) associated with various information channels (e.g., control channels, data channels, information channels related to power-efficient iterative sensor fusion). In some examples, transmitter 515 may be co-located with receiver 510 in a transceiver module. Transmitter 515 may utilize a single antenna or a collection of multiple antennas.

[0122] The communication manager 520, receiver 510, transmitter 515, or various combinations thereof, or various components thereof, may be examples of units for performing various aspects of the power-efficient iterative sensor fusion described herein. For example, the communication manager 520, receiver 510, transmitter 515, or various combinations thereof, or components thereof, may support methods for performing one or more of the functions described herein.

[0123] In some examples, the communication manager 520, receiver 510, transmitter 515, or various combinations or components thereof may be implemented in hardware (e.g., in communication management circuitry). The hardware may include a processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic unit, discrete hardware component, or any combination thereof configured to or otherwise support units for performing the functions described herein. In some examples, a processor and memory coupled to a processor may be configured to perform one or more of the functions described herein (e.g., by executing instructions stored in memory by the processor).

[0124] Alternatively or concurrently, in some examples, the communication manager 520, receiver 510, transmitter 515, or various combinations or components thereof may be implemented using code executed by a processor (e.g., as communication management software or firmware). If implemented using processor-executed code, the functionality of the communication manager 520, receiver 510, transmitter 515, or various combinations or components thereof may be performed by a general-purpose processor, DSP, central processing unit (CPU), ASIC, FPGA, or any combination of these or other programmable logic devices (e.g., a unit configured or otherwise supported for performing the functions described in this disclosure).

[0125] In some examples, the communication manager 520 may be configured to use or otherwise cooperate with the receiver 510, transmitter 515, or both to perform various operations (e.g., receiving, monitoring, transmitting). For example, the communication manager 520 may receive information from the receiver 510, send information to the transmitter 515, or integrate with the receiver 510, transmitter 515, or both to receive information, send information, or perform various other operations as described herein.

[0126] According to the examples disclosed herein, the communication manager 520 may support wireless communication at the UE. For example, the communication manager 520 may be configured or otherwise supported to include elements for selecting a first subset of sensors from a set of available sensors at the UE based on sensor selection criteria, each sensor in the set being associated with a sensor type. The communication manager 520 may be configured or otherwise supported to include elements for performing a sensing operation using the first subset of sensors to obtain first sensing data, which includes sensing data measured by the UE during the sensing operation. The communication manager 520 may be configured or otherwise supported to include elements for transmitting a first sensing report indicating the first sensing data. The communication manager 520 may be configured or otherwise supported to include elements for receiving a second sensing report indicating second sensing data based on the first sensing report, which includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0127] Alternatively or additionally, according to the examples disclosed herein, the communication manager 520 may support wireless communication at the UE. For example, the communication manager 520 may be configured or otherwise supported to support elements for receiving sensing reports indicating sensing data, including a unified sensing report based on one or more sensing reports associated with other UEs. The communication manager 520 may be configured or otherwise supported to support elements for selecting a first subset of sensors from the UE's available sensor set based on the sensing reports, each sensor in the available sensor set being associated with a sensor type. The communication manager 520 may be configured or otherwise supported to perform sensing operations using the first subset of sensors to obtain sensing data measured by the UE during the sensing operations.

[0128] By including or configuring the communication manager 520 according to the examples described herein, device 505 (e.g., a processor that controls or otherwise couples to receiver 510, transmitter 515, communication manager 520, or a combination thereof) can support techniques for improving the accuracy and efficiency of iterative sensor fusion by using intrinsic and extrinsic sensing data to more optimally select sensors for sensing operations.

[0129] Figure 6 A block diagram 600 of a device 605 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Device 605 may be an example of aspects of device 505 or UE 115 as described herein. Device 605 may include a receiver 610, a transmitter 615, and a communication manager 620. Device 605 may also include a processor. Each of these components may communicate with each other (e.g., via one or more buses).

[0130] Receiver 610 may provide a unit for receiving information (such as packets, user data, control information, or any combination thereof) associated with various information channels (e.g., control channels, data channels, information channels related to power-efficient iterative sensor fusion). The information may be transmitted to other components of device 605. Receiver 610 may utilize a single antenna or a collection of antennas.

[0131] Transmitter 615 may provide a unit for transmitting signals generated by other components of device 605. For example, transmitter 615 may transmit information (such as packets, user data, control information, or any combination thereof) associated with various information channels (e.g., control channels, data channels, information channels related to power-efficient iterative sensor fusion). In some examples, transmitter 615 may be co-located with receiver 610 in a transceiver module. Transmitter 615 may utilize a single antenna or a collection of multiple antennas.

[0132] Device 605 or its various components may be examples of units for performing various aspects of power-efficient iterative sensor fusion as described herein. For example, communication manager 620 may include sensor subset manager 625, sensing operation manager 630, sensing report manager 635, sensing update manager 640, or any combination thereof. Communication manager 620 may be examples of various aspects of communication manager 520 as described herein. In some examples, communication manager 620 or its various components may be configured to use receiver 610, transmitter 615, or both, or otherwise cooperate with receiver 610, transmitter 615, or both to perform various operations (e.g., receiving, monitoring, transmitting). For example, communication manager 620 may receive information from receiver 610, send information to transmitter 615, or be integrated with receiver 610, transmitter 615, or both to receive information, send information, or perform various other operations as described herein.

[0133] According to the examples disclosed herein, the communication manager 620 may support wireless communication at the UE. The sensor subset manager 625 may be configured or otherwise supported to include elements for selecting a first subset of sensors from the UE's available sensor set based on sensor selection criteria, each sensor in the available sensor set being associated with a sensor type. The sensing operation manager 630 may be configured or otherwise supported to perform a sensing operation using the first sensor subset to obtain first sensing data, which includes sensing data measured by the UE during the sensing operation. The sensing report manager 635 may be configured or otherwise supported to send a first sensing report indicating the first sensing data. The sensor subset manager 625 may be configured or otherwise supported to receive a second sensing report indicating second sensing data based on the first sensing report, which includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0134] Alternatively or additionally, according to the examples disclosed herein, the communication manager 620 may support wireless communication at the UE. The sensing report manager 635 may be configured or otherwise supported to receive sensing reports indicating sensing data, including a unified sensing report based on one or more sensing reports associated with other UEs. The sensing update manager 640 may be configured or otherwise supported to select a first subset of sensors from the UE's available sensor set based on sensing reports, each sensor in the available sensor set being associated with a sensor type. The sensing update manager 640 may be configured or otherwise supported to perform a sensing operation using the first subset of sensors to obtain sensing data measured by the UE during the sensing operation.

[0135] Figure 7 A block diagram 700 of a communication manager 720 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. The communication manager 720 may be an example of aspects of the communication manager 520, communication manager 620, or both as described herein. The communication manager 720 or its various components may be examples of units for performing various aspects of power-efficient iterative sensor fusion as described herein. For example, the communication manager 720 may include a sensor subset manager 725, a sensing operation manager 730, a sensing report manager 735, a sensing update manager 740, a random sensor selection manager 745, an ID-based sensor selection manager 750, a sensor power usage manager 755, a correlation manager 760, a confidence metric manager 765, or any combination thereof. Each of these components may communicate with each other directly or indirectly (e.g., via one or more buses).

[0136] According to the examples disclosed herein, the communication manager 720 may support wireless communication at the UE. The sensor subset manager 725 may be configured or otherwise supported to include elements for selecting a first subset of sensors from the UE's available sensor set based on sensor selection criteria, each sensor in the available sensor set being associated with a sensor type. The sensing operation manager 730 may be configured or otherwise supported to perform a sensing operation using the first sensor subset to obtain first sensing data, which includes sensing data measured by the UE during the sensing operation. The sensing report manager 935 may be configured or otherwise supported to send a first sensing report indicating the first sensing data. In some examples, the sensor subset manager 725 may be configured or otherwise supported to receive a second sensing report indicating second sensing data based on the first sensing report, which includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0137] In some examples, the random sensor selection manager 745 can be configured or otherwise supported to randomly select a first subset of sensors from the UE’s available sensor set according to sensor selection criteria.

[0138] In some examples, the ID-based sensor selection manager 750 can be configured or otherwise supported for selecting units of a first subset of sensors based on an identifier associated with the UE, according to sensor selection criteria.

[0139] In some examples, the sensor power usage manager 755 can be configured or otherwise supported to randomly select units from the available sensor set based on a power usage metric associated with the first sensor subset, according to sensor selection criteria.

[0140] In some examples, the sensor update manager 740 may be configured or otherwise supported to enable units for performing additional sensing operations based on a second sensing report to obtain updated first sensing data. In some examples, the sensor update manager 740 may be configured or otherwise supported to enable units for sending a third sensing report indicating the updated first sensing data.

[0141] In some examples, the correlation manager 760 may be configured or otherwise supported to determine, based on a second sensing report, that the correlation between the unified sensing report and the first sensing data fails to meet a sensing accuracy threshold. In some examples, the correlation manager 760 may be configured or otherwise supported to select a second subset of sensors from the UE's available sensor set based on the correlation failing to meet a sensing accuracy threshold; the second subset of sensors includes more sensors than the first subset.

[0142] In some examples, the correlation manager 760 may be configured or otherwise supported to determine, based on a second sensing report, whether the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold, which is a threshold lower than the sensing accuracy threshold, wherein the selection of a second subset of sensors that includes more sensors is based on the correlation satisfying the low-end sensing accuracy threshold.

[0143] In some examples, the correlation manager 760 may be configured or otherwise supported to determine, based on a second sensing report, whether the correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold. In some examples, the correlation manager 760 may be configured or otherwise supported to select a second subset of sensors from the UE's available sensor set based on the correlation satisfying the sensing accuracy threshold; the second subset of sensors comprises fewer sensors than the first subset.

[0144] Alternatively or additionally, according to the examples disclosed herein, the communication manager 720 may support wireless communication at the UE. In some examples, the sensing report manager 735 may be configured or otherwise supported to receive sensing reports indicating sensing data, including a unified sensing report based on one or more sensing reports associated with other UEs. The sensing update manager 740 may be configured or otherwise supported to select a first subset of sensors from the UE's available sensor set based on sensing reports, each sensor in the available sensor set being associated with a sensor type. In some examples, the sensing update manager 740 may be configured or otherwise supported to perform a sensing operation using the first subset of sensors to obtain sensing data measured by the UE during the sensing operation.

[0145] In some examples, the confidence metric manager 765 may be configured or otherwise supported to include a unit for determining, based on sensing reports, whether a confidence metric of the sensing data meets a confidence threshold. In some examples, the confidence metric manager 765 may be configured or otherwise supported to include a unit for selecting a first subset of sensors from the UE’s available sensor set, at least in part, based on whether the confidence metric meets a confidence threshold.

[0146] In some examples, the confidence metric manager 765 may be configured or otherwise supported to determine, based on sensing reports, that a confidence metric of the sensing data fails to meet a confidence threshold. In some examples, the confidence metric manager 765 may be configured or otherwise supported to select a first subset of sensors from the UE's available sensor set, at least in part, based on the failure of the confidence metric to meet a confidence threshold.

[0147] In some examples, the Sensing Report Manager 735 can be configured or otherwise supported as a unit for sending indications of sensing data measured against the UE.

[0148] Figure 8 A diagram of a system 800 including a device 805 supporting power-efficient iterative sensor fusion, according to various aspects of this disclosure, is shown. Device 805 may be an example of device 505, device 605, or UE 115 as described herein, or may include components thereof. Device 805 may wirelessly communicate with one or more base stations 105, UE 115, or any combination thereof. Device 805 may include components for bidirectional voice and data communication, including components for transmitting and receiving communications, such as a communication manager 820, an input / output (I / O) controller 810, a transceiver 815, an antenna 825, a memory 830, a code 835, and a processor 840. These components may be electronically communicated or otherwise coupled via one or more buses (e.g., bus 845).

[0149] I / O controller 810 can manage input and output signals for device 805. I / O controller 810 can also manage peripheral devices not integrated into device 805. In some cases, I / O controller 810 can represent a physical connection or port to an external peripheral device. In some cases, I / O controller 810 can utilize, for example... This can be an operating system such as I / O controller 810 or another known operating system. Alternatively, I / O controller 810 may represent or interact with a modem, keyboard, mouse, touchscreen, or similar device. In some cases, I / O controller 810 may be implemented as part of a processor (such as processor 840). In some cases, a user may interact with device 805 via I / O controller 810 or via hardware components controlled by I / O controller 810.

[0150] In some cases, device 805 may include a single antenna 825. However, in other cases, device 805 may have more than one antenna 825, which are capable of transmitting or receiving multiple wireless transmissions simultaneously. Transceiver 815 may communicate bidirectionally via one or more antennas 825, wired or wireless links as described herein. For example, transceiver 815 may represent a wireless transceiver and may communicate bidirectionally with another wireless transceiver. Transceiver 815 may also include a modem for modulating packets, providing modulated packets to one or more antennas 825 for transmission, and demodulating packets received from one or more antennas 825. Transceiver 815, or transceiver 815 and one or more antennas 825, may be examples of transmitter 515, transmitter 615, receiver 510, receiver 610, or any combination thereof or components thereof as described herein.

[0151] Memory 830 may include random access memory (RAM) and read-only memory (ROM). Memory 830 may store computer-readable, computer-executable code 835, which includes instructions that, when executed by processor 840, cause device 805 to perform the various functions described herein. Code 835 may be stored in a non-transitory computer-readable medium, such as system memory or other types of memory. In some cases, code 835 may not be directly executable by processor 840, but may cause a computer (e.g., when compiled and executed) to perform the functions described herein. In some cases, in addition, memory 830 may also include a basic I / O system (BIOS) that controls basic hardware or software operations, such as interaction with peripheral components or devices.

[0152] Processor 840 may include intelligent hardware devices (e.g., general-purpose processors, DSPs, CPUs, microcontrollers, ASICs, FPGAs, programmable logic devices, discrete gate or transistor logic components, discrete hardware components, or any combination thereof). In some cases, processor 840 may be configured to use a memory controller to operate a memory array. In other cases, the memory controller may be integrated into processor 840. Processor 840 may be configured to execute computer-readable instructions stored in memory (e.g., memory 830) to cause device 805 to perform various functions (e.g., functions or tasks supporting power-efficient iterative sensor fusion). For example, device 805 or components of device 805 may include processor 840 and memory 830 coupled to processor 840, processor 840 and memory 830 being configured to perform the various functions described herein.

[0153] According to the examples disclosed herein, the communication manager 820 may support wireless communication at the UE. For example, the communication manager 820 may be configured or otherwise supported to include elements for selecting a first subset of sensors from a set of available sensors at the UE based on sensor selection criteria, each sensor in the set being associated with a sensor type. The communication manager 820 may be configured or otherwise supported to perform a sensing operation using the first subset of sensors to obtain first sensing data, which includes sensing data measured by the UE during the sensing operation. The communication manager 820 may be configured or otherwise supported to send a first sensing report indicating the first sensing data. The communication manager 820 may be configured or otherwise supported to receive a second sensing report indicating second sensing data based on the first sensing report, which includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0154] Alternatively or additionally, according to the examples disclosed herein, the communication manager 820 may support wireless communication at the UE. For example, the communication manager 820 may be configured or otherwise supported to support elements for receiving sensing reports indicating sensing data, including a unified sensing report based on one or more sensing reports associated with other UEs. The communication manager 820 may be configured or otherwise supported to support elements for selecting a first subset of sensors from the UE's available sensor set based on the sensing reports, each sensor in the available sensor set being associated with a sensor type. The communication manager 820 may be configured or otherwise supported to perform sensing operations using the first subset of sensors to obtain sensing data measured by the UE during the sensing operations.

[0155] By including or configuring the communication manager 820 according to the examples described herein, the device 805 can support techniques for improving the accuracy and efficiency of iterative sensor fusion by more optimally selecting sensors for sensing operations based on the use of intrinsic and extrinsic sensing information.

[0156] In some examples, the communication manager 820 may be configured to perform various operations (e.g., receiving, monitoring, transmitting) using or in cooperation with transceiver 815, one or more antennas 825, or any combination thereof. Although the communication manager 820 is shown as a separate component, in some examples, one or more functions described with reference to the communication manager 820 may be supported or performed by processor 840, memory 830, code 835, or any combination thereof. For example, code 835 may include instructions executable by processor 840 to cause device 805 to perform various aspects of power-efficient iterative sensor fusion as described herein, or processor 840 and memory 830 may be otherwise configured to perform or support such operations.

[0157] Figure 9 A flowchart illustrating a method 900 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Operation of method 900 can be implemented by a UE or its components as described herein. For example, operation of method 900 can be performed by, as referenced... Figures 1 to 8 The UE 115 described is used to perform this function. In some examples, the UE can execute a set of instructions to control the functional units of the UE to perform the described function. Alternatively, the UE can use dedicated hardware to perform aspects of the described function.

[0158] At 905, the method may include: selecting a first subset of sensors from the UE's available sensor set based on sensor selection criteria, each sensor in the available sensor set being associated with a sensor type. The operation of 905 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 905 may be derived from references... Figure 7 The sensor subset manager 725 described is used to perform this.

[0159] At 910, the method may include: performing a sensing operation using a first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation. The operation at 910 may be performed according to examples as disclosed herein. In some examples, aspects of the operation at 910 may be derived from references... Figure 7 The described sensing operation manager 730 is used to perform this.

[0160] At point 915, the method may include: sending a first sensing report indicating first sensing data. The operation of 915 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 915 may be derived from, as referenced... Figure 7 The described Sensing Report Manager 935 is used to perform this.

[0161] At 920, the method may include: receiving a second sensing report indicating second sensing data based on a first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs. The operation of 920 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 920 may be derived from references... Figure 7 The sensor subset manager 725 described is used to perform this.

[0162] Figure 10 A flowchart illustrating a method 1000 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Operation of method 1000 can be implemented by a UE or its components as described herein. For example, operation of method 1000 can be implemented by, as referred to... Figures 1 to 8 The UE 115 described is used to perform this function. In some examples, the UE can execute a set of instructions to control the functional units of the UE to perform the described function. Alternatively, the UE can use dedicated hardware to perform aspects of the described function.

[0163] At point 1005, the method may include: selecting a first subset of sensors from the UE's available sensor set based on sensor selection criteria, each sensor in the available sensor set being associated with a sensor type. The operation at point 1005 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at point 1005 may be derived from references... Figure 7 The sensor subset manager 725 described is used to perform this.

[0164] At point 1010, the method may include: randomly selecting a first subset of sensors from the set of available sensors of the UE according to sensor selection criteria. The operation of 1010 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1010 may be determined by reference to... Figure 7 The random sensor selection manager 745 described is used to perform this.

[0165] At 1015, the method may include: performing a sensing operation using a first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation. The operation at 1015 may be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1015 may be derived from references... Figure 7 The described sensing operation manager 730 is used to perform this.

[0166] At point 1020, the method may include: sending a first sensing report indicating first sensing data. The operation of 1020 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1020 may be derived from, as referenced... Figure 7 The described Sensing Report Manager 735 is used to perform this.

[0167] At 1025, the method may include: receiving a second sensing report indicating second sensing data based on a first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs. The operation of 1025 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1025 may be derived from references... Figure 7 The sensor subset manager 725 described is used to perform this.

[0168] Figure 11 A flowchart illustrating a method 1100 supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Operation of method 1100 can be implemented by a UE or its components as described herein. For example, operation of method 1100 can be implemented by, as referenced... Figures 1 to 8 The UE 115 described is used to perform this function. In some examples, the UE can execute a set of instructions to control the functional units of the UE to perform the described function. Alternatively, the UE can use dedicated hardware to perform aspects of the described function.

[0169] At 1105, the method may include: selecting a first subset of sensors from the UE's available sensor set based on sensor selection criteria, each sensor in the available sensor set being associated with a sensor type. The operation at 1105 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1105 may be derived from, as referenced... Figure 7 The sensor subset manager 725 described is used to perform this.

[0170] At 1110, the method may include: selecting a first subset of sensors based on an identifier associated with the UE, according to a sensor selection criterion. The operation at 1110 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1110 may be determined by reference to... Figure 7 The ID-based sensor selection manager 750 described is used to perform this.

[0171] At 1115, the method may include: performing a sensing operation using a first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation. The operation at 1115 may be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1115 may be derived from references... Figure 7 The described sensing operation manager 730 is used to perform this.

[0172] At 1120, the method may include: sending a first sensing report indicating first sensing data. The operation of 1120 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1120 may be derived from, as referenced... Figure 7 The described Sensing Report Manager 735 is used to perform this.

[0173] At 1125, the method may include: receiving a second sensing report indicating second sensing data based on a first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs. The operation of 1125 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1125 may be derived from references... Figure 7 The sensor subset manager 725 described is used to perform this.

[0174] Figure 12 A flowchart illustrating a method 1200 for supporting power-efficient iterative sensor fusion according to various aspects of this disclosure is shown. Operation of method 1200 can be implemented by a UE or its components as described herein. For example, operation of method 1200 can be implemented by, as referred to... Figures 1 to 8 The UE 115 described is used to perform this function. In some examples, the UE can execute a set of instructions to control the functional units of the UE to perform the described function. Alternatively, the UE can use dedicated hardware to perform aspects of the described function.

[0175] At 1205, the method may include: receiving a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs. The operation of 1205 can be performed according to examples as disclosed herein. In some examples, aspects of the operation of 1205 may be provided by reference to... Figure 7 The described Sensing Report Manager 735 is used to perform this.

[0176] At 1210, the method may include: determining, based on the sensing report, that a confidence metric of the sensing data satisfies a confidence threshold. The operation at 1210 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1210 may be determined by reference to... Figure 7The confidence metric manager 765 is described and executed.

[0177] At 1215, the method may include: selecting a first subset of sensors from the UE's available sensor set based on a sensing report, each sensor in the available sensor set being associated with a sensor type. The operation at 1215 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1215 may be derived from, as referenced... Figure 7 The described sensor update manager 740 is used to perform this.

[0178] At 1220, the method may include: selecting a first subset of sensors from the set of available sensors of the UE, at least in part based on a confidence metric satisfying a confidence threshold. The operation at 1220 can be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1220 may be derived from, as referenced... Figure 7 The confidence metric manager 765 is described and executed.

[0179] At 1225, the method may include: performing a sensing operation using a first subset of sensors to acquire sensing data measured by the UE during the sensing operation. The operation at 1225 may be performed according to examples as disclosed herein. In some examples, aspects of the operation at 1225 may be derived from references... Figure 7 The described sensor update manager 740 is used to perform this.

[0180] The following provides a summary of various aspects of this disclosure:

[0181] Aspect 1: A method for wireless communication at a UE, comprising: selecting a first subset of available sensors from a set of available sensors of the UE, each sensor in the set of available sensors being associated with a sensor type, at least in part based on a sensor selection criterion; performing a sensing operation using the first subset of sensors to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; transmitting a first sensing report indicating the first sensing data; and receiving a second sensing report indicating second sensing data, at least in part based on the first sensing report, the second sensing data including a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs.

[0182] Aspect 2: The method according to aspect 1 further includes: randomly selecting the first sensor subset from the available sensor set of the UE according to the sensor selection criteria.

[0183] Aspect 3: The method according to any one of Aspects 1 to 2 further includes: selecting the first subset of sensors based at least in part on an identifier associated with the UE, according to the sensor selection criteria.

[0184] Aspect 4: The method according to any one of Aspects 1 to 3 further includes: randomly selecting the first sensor subset from the available sensor set based at least in part on a power usage metric associated with the first sensor subset, according to the sensor selection criteria.

[0185] Aspect 5: The method according to any one of Aspects 1 to 4 further includes: performing additional sensing operations at least in part based on the second sensing report to obtain updated first sensing data; and sending a third sensing report indicating the updated first sensing data.

[0186] Aspect 6: The method according to any one of Aspects 1 to 5 further includes: determining, at least in part, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data fails to meet a sensing accuracy threshold; and selecting, at least in part, a second subset of sensors from the available sensor set of the UE, the second subset of sensors comprising more sensors than the first subset of sensors, based on the failure of the correlation to meet the sensing accuracy threshold.

[0187] Aspect 7: The method according to aspect 6 further includes: determining, at least in part, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold, the low-end sensing accuracy threshold being a threshold lower than the sensing accuracy threshold, wherein selecting the second subset of sensors including more sensors is based at least in part on the correlation satisfying the low-end sensing accuracy threshold.

[0188] Aspect 8: The method according to any one of Aspects 1 to 7 further includes: determining, at least in part, based on the second sensing report, that the correlation between the unified sensing report and the first sensing data satisfies a sensing accuracy threshold; and selecting, at least in part, a second subset of sensors from the available sensor set of the UE based on the correlation satisfying the sensing accuracy threshold, the second subset of sensors comprising fewer sensors than the first subset of sensors.

[0189] Aspect 9: A method for wireless communication at a UE, comprising: receiving a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; selecting a first subset of available sensors from a set of available sensors of the UE, each sensor in the set of available sensors being associated with a sensor type, at least in part based on the sensing reports; and using the first subset of sensors to perform a sensing operation to obtain sensing data measured by the UE during the sensing operation.

[0190] Aspect 10: The method according to aspect 9 further includes: determining, at least in part, based on the sensing report, that the confidence metric of the sensing data satisfies a confidence threshold; and selecting the first subset of sensors from the set of available sensors of the UE, at least in part based on the confidence metric satisfying the confidence threshold.

[0191] Aspect 11: The method according to any one of Aspects 9 to 10 further includes: determining, at least in part, based on the sensing report, that the confidence metric of the sensing data fails to meet a confidence threshold; and selecting the first subset of sensors from the set of available sensors of the UE, at least in part based on the failure of the confidence metric to meet the confidence threshold.

[0192] Aspect 12: The method according to any one of aspects 9 to 11 further includes: sending an instruction to sense data measured by the UE.

[0193] Aspect 13: An apparatus for wireless communication at a UE, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform the method according to any one of aspects 1 to 8.

[0194] Aspect 14: An apparatus for wireless communication at a UE, comprising at least one unit for performing the method according to any one of aspects 1 to 8.

[0195] Aspect 15: A non-transitory computer-readable medium storing code for wireless communication at a UE, the code comprising instructions executable by a processor to perform a method according to any one of aspects 1 to 8.

[0196] Aspect 16: An apparatus for wireless communication at a UE, comprising: a processor; a memory coupled to the processor; and instructions stored in the memory and executable by the processor to cause the apparatus to perform the method according to any one of aspects 9 to 12.

[0197] Aspect 17: An apparatus for wireless communication at a UE, comprising at least one unit for performing the method according to any one of aspects 9 to 12.

[0198] Aspect 18: A non-transitory computer-readable medium storing code for wireless communication at a UE, the code comprising instructions executable by a processor to perform the method according to any one of aspects 9 to 12.

[0199] It should be noted that the methods described in this paper describe possible implementations, and the operations and steps can be rearranged or otherwise modified, and other implementations are possible. Furthermore, aspects from two or more methods can be combined.

[0200] While aspects of LTE, LTE-A, LTE-A Pro, or NR systems may be described for illustrative purposes, and the terms LTE, LTE-A, LTE-A Pro, or NR may be used extensively in the description, the techniques described herein apply beyond LTE, LTE-A, LTE-A Pro, or NR networks. For example, the techniques described can be applied to a variety of other wireless communication systems, such as Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, Flash-OFDM, and other systems and radio technologies not explicitly mentioned herein.

[0201] The information and signals described herein can be represented using any of a variety of different techniques and methods. For example, the data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the description may be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0202] The various illustrative blocks and components described herein can be implemented or performed using a general-purpose processor, DSP, ASIC, CPU, FPGA, or other programmable logic device, discrete gate or transistor logic, discrete hardware component, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but alternatively, the processor may be any processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration).

[0203] The functions described herein can be implemented using hardware, software executed by a processor, firmware, or any combination thereof. If implemented using software executed by a processor, the functions can be stored as one or more instructions or code on or transmitted through a computer-readable medium. Other examples and implementations are within the scope of this disclosure and the appended claims. For example, due to the nature of software, the functions described herein can be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination of these. Features implementing the functions can also be physically located in various locations, including being distributed such that different parts of the functions are implemented in different physical locations.

[0204] Computer-readable media includes both non-transitory computer storage media and communication media, with communication media encompassing any medium that facilitates the transfer of computer programs from one place to another. Non-transitory storage media can be any available medium accessible by a general-purpose computer or a special-purpose computer. By way of example, and not limitation, non-transitory computer-readable media can include RAM, ROM, electrically erasable programmable ROM (EEPROM), flash memory, compressed optical disc (CD) ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to carry or store desired units of program code in the form of instructions or data structures, and accessible by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Furthermore, any connection is appropriately referred to as computer-readable media. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included within the definition of computer-readable media. As used herein, disks and optical discs include CDs, laser discs, optical discs, digital multifunction discs (DVDs), floppy disks, and Blu-ray discs, wherein disks typically copy data magnetically, while optical discs use lasers to copy data optically. The combinations described above are also included within the scope of computer-readable media.

[0205] As used herein (including in the claims), the word "or" in a list of items (e.g., a list of items ending with a phrase such as "at least one of" or "one or more of") indicates an inclusive list, such that a list of at least one of A, B, or C means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). Furthermore, as used herein, the phrase "based on" should not be construed as a reference to a closed set of conditions. For example, an example step described as "based on condition A" could be based on both condition A and condition B without departing from the scope of this disclosure. In other words, as used herein, the phrase "based on" should be interpreted in the same way as the phrase "at least partially based on".

[0206] In the accompanying drawings, similar components or features may have the same reference numerals. Furthermore, various components of the same type can be distinguished by a dash and a second reference numeral following the reference numeral, used to differentiate between similar components. If only the first reference numeral is used in the specification, the description applies to any one of the similar components having the same first reference numeral, without regard to the second reference numeral or other subsequent reference numerals.

[0207] This document describes exemplary configurations in conjunction with the accompanying drawings, and does not represent all examples that can be implemented or that are within the scope of the claims. The term "example" as used herein means "serving as an example, instance, or illustration," and not "preferred" or "advantageous over other examples." The detailed description includes specific details for the purpose of providing an understanding of the described techniques. However, these techniques can be implemented without these specific details. In some cases, known structures and devices are shown in block diagram form to avoid obscuring the concepts of the described examples.

[0208] The description herein is provided to enable those skilled in the art to implement or use the present disclosure. Various modifications to the present disclosure will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of the disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is to be given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for wireless communication at a user equipment (UE), comprising: A first subset of sensors is selected from the available sensor set of the UE, at least in part, based on sensor selection criteria, each of which is associated with a sensor type; The first subset of sensors is used to perform a sensing operation to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; Send a first sensing report indicating the first sensing data; The second sensing report, which indicates second sensing data, is received at least in part based on the first sensing report, and the second sensing data includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs. as well as The first subset of sensors is updated to a second subset of sensors for performing sensing operations, based at least in part on the second sensing report.

2. The method according to claim 1, further comprising: According to the sensor selection criteria, the first subset of sensors is randomly selected from the set of available sensors of the UE.

3. The method according to claim 1, further comprising: The first subset of sensors is selected based on the sensor selection criteria, at least in part, on the identifiers associated with the UE.

4. The method according to claim 1, further comprising: The first subset of sensors is randomly selected from the set of available sensors based at least in part on a power usage metric associated with the first subset of sensors, according to the sensor selection criteria.

5. The method according to claim 1, further comprising: Additional sensing operations are performed, at least in part, based on the second sensing report, to obtain updated first sensing data; as well as Send a third sensing report indicating the updated first sensing data.

6. The method according to claim 1, further comprising: It is determined, at least in part, based on the second sensing report: the correlation between the unified sensing report and the first sensing data fails to meet the sensing accuracy threshold; as well as The second sensor subset is selected from the available sensor set of the UE, at least in part, based on the failure of the correlation to meet the sensing accuracy threshold. The second sensor subset includes more sensors than the first sensor subset.

7. The method according to claim 6, further comprising: The determination is based at least in part on the second sensing report: the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold, which is a threshold lower than the sensing accuracy threshold, wherein the selection of the second sensor subset, which includes more sensors, is based at least in part on the correlation satisfying the low-end sensing accuracy threshold.

8. The method according to claim 1, further comprising: It is determined, at least in part, based on the second sensing report: that the correlation between the unified sensing report and the first sensing data meets a sensing accuracy threshold; as well as The second sensor subset is selected from the available sensor set of the UE based at least in part on the correlation satisfying the sensing accuracy threshold, the second sensor subset comprising fewer sensors than the first sensor subset.

9. A method for wireless communication at a user equipment (UE), comprising: Receive a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; A first subset of sensors is selected from the UE’s available sensor set, at least in part, based on the sensing report, each sensor in the available sensor set being associated with a sensor type; as well as The first subset of sensors is used to perform a sensing operation to obtain sensing data measured by the UE during the sensing operation.

10. The method of claim 9, further comprising: It is determined, at least in part, based on the sensing report that the confidence metric of the sensing data meets a confidence threshold; as well as The first subset of sensors is selected from the set of available sensors of the UE, at least in part, based on the confidence metric satisfying the confidence threshold.

11. The method of claim 9, further comprising: It is determined, at least in part, based on the sensing report, that the confidence metric of the sensing data failed to meet the confidence threshold; as well as The first subset of sensors is selected from the available sensor set of the UE, at least in part, based on the failure of the confidence metric to meet the confidence threshold.

12. The method according to claim 9, further comprising: Send an instruction to the UE to measure the sensing data.

13. An apparatus for wireless communication at a user equipment (UE), comprising: processor; Memory coupled to the processor; as well as Instructions, which are stored in the memory and executable by the processor, cause the device to perform the following operations: A first subset of sensors is selected from the available sensor set of the UE, at least in part, based on sensor selection criteria, each of which is associated with a sensor type; The first subset of sensors is used to perform a sensing operation to obtain first sensing data, the first sensing data including sensing data measured by the UE during the sensing operation; Send a first sensing report indicating the first sensing data; The second sensing report, which indicates second sensing data, is received at least in part based on the first sensing report, and the second sensing data includes a unified sensing report based on the first sensing report from the UE and one or more additional sensing reports from other UEs. as well as The first subset of sensors is updated to a second subset of sensors for performing sensing operations, based at least in part on the second sensing report.

14. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: According to the sensor selection criteria, the first subset of sensors is randomly selected from the set of available sensors of the UE.

15. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: The first subset of sensors is selected based on the sensor selection criteria, at least in part, on the identifiers associated with the UE.

16. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: The first subset of sensors is randomly selected from the set of available sensors based at least in part on a power usage metric associated with the first subset of sensors, according to the sensor selection criteria.

17. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: Additional sensing operations are performed, at least in part, based on the second sensing report, to obtain updated first sensing data; as well as Send a third sensing report indicating the updated first sensing data.

18. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: It is determined, at least in part, based on the second sensing report: the correlation between the unified sensing report and the first sensing data fails to meet the sensing accuracy threshold; as well as The second sensor subset is selected from the available sensor set of the UE, at least in part, based on the failure of the correlation to meet the sensing accuracy threshold. The second sensor subset includes more sensors than the first sensor subset.

19. The apparatus according to claim 18, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: The determination is based at least in part on the second sensing report: the correlation between the unified sensing report and the first sensing data satisfies a low-end sensing accuracy threshold, which is a threshold lower than the sensing accuracy threshold, wherein the selection of the second sensor subset, which includes more sensors, is based at least in part on the correlation satisfying the low-end sensing accuracy threshold.

20. The apparatus according to claim 13, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: It is determined, at least in part, based on the second sensing report: that the correlation between the unified sensing report and the first sensing data meets a sensing accuracy threshold; as well as The second sensor subset is selected from the available sensor set of the UE based at least in part on the correlation satisfying the sensing accuracy threshold, the second sensor subset comprising fewer sensors than the first sensor subset.

21. An apparatus for wireless communication at a user equipment (UE), comprising: processor; Memory coupled to the processor; as well as Instructions, which are stored in the memory and executable by the processor, cause the device to perform the following operations: Receive a sensing report indicating sensing data, the sensing data including a unified sensing report based on one or more sensing reports associated with other UEs; A first subset of sensors is selected from the UE’s available sensor set, at least in part, based on the sensing report, each sensor in the available sensor set being associated with a sensor type; as well as The first subset of sensors is used to perform a sensing operation to obtain sensing data measured by the UE during the sensing operation.

22. The apparatus according to claim 21, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: It is determined, at least in part, based on the sensing report that the confidence metric of the sensing data meets a confidence threshold; as well as The first subset of sensors is selected from the set of available sensors of the UE, at least in part, based on the confidence metric satisfying the confidence threshold.

23. The apparatus according to claim 21, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: It is determined, at least in part, based on the sensing report, that the confidence metric of the sensing data failed to meet the confidence threshold; as well as The first subset of sensors is selected from the available sensor set of the UE, at least in part, based on the failure of the confidence metric to meet the confidence threshold.

24. The apparatus according to claim 21, wherein, The instructions are also executable by the processor to cause the device to perform the following operations: Send an instruction to the UE to measure the sensing data.

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