Radar target tracking based on return signal strength

Abstract

The present disclosure provides systems, devices, apparatuses, and methods, including computer programs encoded on storage media, for return signal strength based radar target tracking. A wireless device, such as a radar device, can measure a received signal strength of a detected signal. The received signal strength can be associated with at least one bin of a radar image. The wireless device can compare the received signal strength to a filtered signal strength. The filtered signal strength can be associated with a threshold signal strength difference from the filtered signal strength. The wireless device can track the at least one bin of the radar image in response to the received signal strength being less than or equal to the threshold signal strength difference from the filtered signal strength.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Greek application No. 20210100408, filed on 22 June 2021, entitled “RADAR TARGET TRACKINGBASED ON RETURN SIGNAL STRENGTH”, the entire contents of which are expressly incorporated herein by reference. Technical Field

[0003] In summary, this disclosure relates to communication systems, and more specifically, to radar target tracking based on the strength of the returned signal. Background Technology

[0004] Wireless communication systems are widely deployed to provide a variety of telecommunications services, such as telephone, video, data, messaging, and broadcasting. Typical wireless communication systems employ multiple access technologies that enable communication with multiple users by sharing available system resources. Examples of such multiple access technologies include Code Division Multiple Access (CDMA) systems, Time Division Multiple Access (TDMA) systems, Frequency Division Multiple Access (FDMA) systems, Orthogonal Frequency Division Multiple Access (OFDMA) systems, Single Carrier Frequency Division Multiple Access (SC-FDMA) systems, and Time Division Synchronous Code Division Multiple Access (TD-SCDMA) systems.

[0005] These multiple access technologies have been adopted in various telecommunications standards to provide a common protocol enabling different wireless devices to communicate at the city, country, region, and even global levels. An exemplary telecommunications standard is 5G New Radio (NR). 5G NR is part of the continuous evolution of mobile broadband released by the 3rd Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with the Internet of Things (IoT),) and other requirements. 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine-type communications (mMTC), and ultra-reliable low-latency communications (URLLC). Some aspects of 5G NR can be based on the 4G Long Term Evolution (LTE) standard. There is a need for further improvements to 5G NR technology. These improvements can also be applied to other multiple access technologies and telecommunications standards that adopt them. Summary of the Invention

[0006] The following provides a brief overview of one or more aspects to offer a basic understanding of such aspects. This overview is not a comprehensive summary of all anticipated aspects, nor is it intended to identify key or important elements of all aspects, nor to depict the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that follows.

[0007] In one aspect of this disclosure, a method, computer-readable medium, and apparatus are provided. The apparatus can measure the received signal strength of a detected signal, the received signal strength being associated with at least one bin of a radar image; compare the received signal strength with a filtered signal strength, the filtered signal strength being associated with a threshold signal strength difference from the filtered signal strength; and track at least one bin of the radar image in response to the received signal strength being less than or equal to the threshold signal strength difference from the filtered signal strength.

[0008] To achieve the foregoing and related objectives, one or more aspects include the features fully described below and particularly pointed out in the claims. The following description and drawings set forth certain illustrative features of one or more aspects in detail. However, these features indicate only some of the various ways in which the principles of each aspect may be employed, and this specification is intended to include all such aspects and their equivalents. Attached Figure Description

[0009] Figure 1 This is a diagram illustrating an example of radar equipment and a wireless communication system.

[0010] Figure 2A This is a diagram illustrating an example of the first frame of various aspects according to this disclosure.

[0011] Figure 2B This is a diagram illustrating an example of a downlink (DL) channel within a subframe according to various aspects of this disclosure.

[0012] Figure 2C This is a diagram illustrating an example of the second frame according to various aspects of this disclosure.

[0013] Figure 2D This is a diagram illustrating an example of an uplink (UL) channel within a subframe according to various aspects of this disclosure.

[0014] Figure 3 This is a diagram illustrating an example of a wireless device capable of sensing radar signals.

[0015] Figure 4 This is a diagram showing radar signals transmitted by vehicles and reflected from targets and decoys.

[0016] Figure 5 This is a diagram showing the radar's transmitted and returned signals.

[0017] Figure 6 This is a graph associated with spectral analysis of radar images.

[0018] Figure 7 The image shows a radar image of multiple compartments including those for target detection and tracking, and corresponding detection and tracking flowcharts.

[0019] Figure 8 This is a flowchart of a method for conducting wireless communication at a wireless device.

[0020] Figure 9 This is a flowchart of a method for conducting wireless communication at a wireless device.

[0021] Figure 10 This is a diagram illustrating an example of a hardware implementation of an exemplary device. Detailed Implementation

[0022] The specific embodiments described below with reference to the accompanying drawings are intended as descriptions of various configurations and not as representations of the only configurations in which the concepts described herein can be practiced. Specific details are included in the specific embodiments for the purpose of providing a comprehensive understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form to avoid obscuring such concepts.

[0023] Several aspects of a telecommunications system will now be described with reference to various apparatuses and methods. These apparatuses and methods will be described in detail below and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as “elements”). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented in hardware or software depends on the specific application and the design constraints imposed on the system as a whole.

[0024] For example, an element, or any part of an element, or any combination of elements, can be implemented as a "processing system" including one or more processors. Examples of processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, system-on-a-chip (SoCs), baseband processors, field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described herein. One or more processors in a processing system can execute software. Whether referred to as software, firmware, middleware, microcode, hardware description language, or other names, software should be broadly interpreted as meaning instructions, instruction sets, code, code segments, program code, programs, subroutines, software components, applications, software applications, software packages, routines, subroutines, objects, executable files, threads of execution, procedures, functions, etc.

[0025] Accordingly, in one or more example embodiments, the described functionality may be implemented in hardware, software, or any combination thereof. If implemented in software, the functionality may be stored or encoded as one or more instructions or code on a computer-readable medium. A computer-readable medium includes a computer storage medium. The storage medium can be any available medium accessible by a computer. By way of example, and not limitation, such a computer-readable medium may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of various types of computer-readable media, or any other medium capable of storing computer-executable code accessible by a computer in the form of instructions or data structures.

[0026] While aspects and implementations are described herein by way of example, those skilled in the art will understand that additional implementations and use cases may arise in many different arrangements and scenarios. The innovations described herein can be implemented across many different platform types, devices, systems, shapes, sizes, and package arrangements. For example, implementations and / or uses may arise via integrated chip implementations and other devices based on non-modular components (e.g., end-user devices, vehicles, communication devices, computing devices, industrial equipment, retail / purchasing devices, medical devices, AI-enabled devices, etc.). While some examples may or may not be specific to a particular use case or application, a wide variety of applicability to the described innovations can exist. Implementations can range from chip-level or modular components to non-modular, non-chip-level implementations, and further to aggregated, distributed, or original equipment manufacturer (OEM) devices or systems incorporating one or more aspects of the described innovations. In some practical settings, devices incorporating the described aspects and features may also include additional components and features for the implementation and enforcement of the claimed and described aspects. For example, the transmission and reception of wireless signals necessarily involve multiple components for analog and digital purposes (e.g., hardware components including antennas, RF chains, power amplifiers, modulators, buffers, processors, interleavers, adders / converters, etc.). The innovations described herein are intended to be implemented in a variety of devices, chip-level components, systems, distributed arrangements, aggregated or decomposed components, end-user devices, etc., with different sizes, shapes, and constructions.

[0027] Figure 1 Figure 100 illustrates an example of a wireless communication system and access network in which base station 102 or 180 can wirelessly communicate with user equipment (UE) 104. Some wireless devices can perform radar signal sensing. For example, radar device 103 can transmit a wireless signal 105 and use information about the signal to image the environment, or determine information about a target 107 based on range, Doppler, and / or angular information determined according to the wireless signal. The signal may include defined waveforms, such as frequency modulated continuous wave (FMCW) or pulse or linear frequency modulated waveforms.

[0028] In some examples, radar device 103 can transmit radar signals to determine information about a target or environment. Target tracking component 198 included in radar device 103 can be configured to measure the received signal strength of a detected signal, the received signal strength being associated with at least one bin of a radar image; compare the received signal strength with a filtered signal strength, the filtered signal strength being associated with a threshold signal strength difference from the filtered signal strength; and track at least one bin of the radar image in response to the received signal strength being less than or equal to the threshold signal strength difference from the filtered signal strength.

[0029] The received signal can be compared with the transmitted signal to determine information about the target 107 or the environment. Radar signal sensing can be used in automotive radar, for example, to detect the environment around the vehicle, nearby vehicles or objects, detect information for intelligent cruise control, collision avoidance, etc. Radar signal sensing can be used for gesture recognition, such as human activity recognition, hand movement recognition, facial expression recognition, keystroke detection, sign language detection, etc. Radar signal sensing can be used to acquire contextual information, such as position detection, tracking, orientation determination, distance estimation, etc. Radar signal sensing can be used to image the environment, for example, to provide three-dimensional (3D) maps for virtual reality (VR) applications. Radar signal sensing can be used to provide high-resolution positioning, for example, for industrial Internet of Things (IIoT) applications. In some examples, radar device 103 can provide consumer-grade radar with advanced detection capabilities. Radar signal sensing can provide touchless or device-free interaction with devices or systems. For example, a wireless device can detect user gestures to trigger an operation at the wireless device.

[0030] In some examples, radar signal sensing can be based on a wireless communication system (such as...) for signal 105. Figure 1 The wireless communication system shown overlaps with the frequency range of the radar device 103. The radar device 103 can use the waveform of the signal 105 associated with the communication system. As a non-limiting example, radar signal sensing can be performed via mmW signals (such as frequency range 2 (FR2), frequency range 2x (FR2x), and / or frequency range 4 (FR4) signals), which can provide improved range for radar signal detection. In some examples, the radar device 103 is capable of performing both radar signal sensing and wireless communication. In some examples, the radar device 103 can correspond to... Figure 1 The communication system includes UE 104, base station 102 or 180, or other access points. In other examples, radar device 103 can perform radar signal sensing without wireless communication capabilities. Figure 1 As shown, radar device 103 can use a beam to transmit signal 105. Radar device 103 can be located within or outside the coverage area 110 of base station 102 or 180.

[0031] Figure 1 The wireless communication system shown (also referred to as a Wireless Wide Area Network (WWAN)) includes base station 102, UE 104, evolved packet core (EPC) 160, and another core network 190 (e.g., a 5G core (5GC)). Base station 102 may include macro cells (high-power cellular base stations) and / or small cells (low-power cellular base stations). Macro cells include base stations. Small cells include femtocells, picocells, and microcells.

[0032] Base station 102 configured for 4G LTE (collectively referred to as Evolved Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (E-UTRAN)) can interface with EPC 160 via a first backhaul link 132 (e.g., S1 interface). Base station 102 configured for 5G NR (collectively referred to as Next Generation RAN (NG-RAN)) can interface with core network 190 via a second backhaul link 184. Among other functions, base station 102 can also perform one or more of the following functions: transmission of user data, radio channel encryption and decryption, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection establishment and release, load balancing, distribution of non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service (MBMS), user and device tracking, RAN information management (RIM), paging, location, and delivery of warning messages. Base station 102 can communicate with each other directly or indirectly (e.g., via EPC 160 or core network 190) via third backhaul link 134 (e.g., X2 interface). First backhaul link 132, second backhaul link 184 and third backhaul link 134 can be wired or wireless.

[0033] Base station 102 can wirelessly communicate with UE 104. Each base station 102 in the base station 102 can provide communication coverage for a corresponding geographic coverage area 110. Overlapping geographic coverage areas 110 may exist. For example, a small cell 102' may have a coverage area 110' that overlaps with the coverage areas 110 of one or more macro base stations 102. A network that includes both small cells and macro cells can be referred to as a heterogeneous network. The heterogeneous network may also include a Home Evolved Node B (eNB) (HeNB), which can provide services to restricted groups referred to as Closed Subscriber Groups (CSGs). The communication link 120 between base station 102 and UE 104 may include uplink (UL) (also referred to as reverse link) transmission from UE 104 to base station 102 and / or downlink (DL) (also referred to as forward link) transmission from base station 102 to UE 104. The communication link 120 may use multiple-input multiple-output (MIMO) antenna technologies, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link can be via one or more carriers. Base station 102 / UE 104 can use spectrum allocated in carrier aggregation for a total of up to Y x MHz (x component carriers) for transmission in each direction, with a bandwidth of up to Y MHz per carrier (e.g., 5, 10, 15, 20, 100, 400 MHz, etc.). Carriers can be adjacent to each other or can be non-adjacent. Carrier allocation can be asymmetric with respect to DL and UL (e.g., more or fewer carriers can be allocated for DL ​​compared to UL). Component carriers can include primary component carriers and one or more secondary component carriers. The primary component carrier can be referred to as the primary cell (PCell), and the secondary component carriers can be referred to as secondary cells (SCells).

[0034] Some UEs 104 can communicate with each other using device-to-device (D2D) communication link 158. D2D communication link 158 can use DL / UL WWAN spectrum. D2D communication link 158 can use one or more sidelink channels, such as the Physical Sidelink Broadcast Channel (PSBCH), Physical Sidelink Discovery Channel (PSDCH), Physical Sidelink Shared Channel (PSSCH), and Physical Sidelink Control Channel (PSCCH). D2D communication can be achieved through a variety of wireless D2D communication systems, such as WiMedia, Bluetooth, ZigBee, Wi-Fi based on the IEEE 802.11 standard, LTE, or NR.

[0035] The wireless communication system may also include a Wi-Fi access point (AP) 150 that communicates with a Wi-Fi station (STA) 152 via a communication link 154 in, for example, unlicensed spectrum in the 5 GHz band. When communicating in unlicensed spectrum, the STA 152 / AP 150 may perform a free channel assessment (CCA) before communication to determine whether the channel is available.

[0036] Small cell 102' can operate in licensed and / or unlicensed spectrum. When operating in unlicensed spectrum, small cell 102' can employ NR and use the same unlicensed spectrum (e.g., 5 GHz, etc.) as used by Wi-Fi AP 150. Small cell 102' employing NR in unlicensed spectrum can improve the coverage and / or increase the capacity of the access network.

[0037] The electromagnetic spectrum is typically subdivided into various categories, bands, channels, etc., based on frequency / wavelength. In 5G NR, the two initial operating bands have been designated as frequency range names FR1 (410MHz-7.125GHz) and FR2 (24.25GHz-52.6GHz). The frequencies between FR1 and FR2 are generally referred to as the mid-band frequencies. Although a portion of FR1 is greater than 6GHz, in various documents and articles, FR1 is often (interchangeably) referred to as the "below 6GHz" band. Similar naming issues sometimes arise regarding FR2; although different from the extremely high frequency (EHF) band (30GHz-300GHz) designated as the "millimeter wave" band by the International Telecommunication Union (ITU), FR2 is often (interchangeably) referred to as the "millimeter wave" band in documents and articles.

[0038] In light of the above, unless otherwise specifically stated, it should be understood that, if used herein, the terms "below 6 GHz" and the like can broadly refer to frequencies that are less than 6 GHz, frequencies that are within FR1, or frequencies that may include the intermediate frequency band. Furthermore, unless otherwise specifically stated, it should be understood that, if used herein, the terms "millimeter wave" and the like can broadly refer to frequencies that may include the intermediate frequency band, frequencies that are within FR2, or frequencies that are within the EHF band.

[0039] Base station 102 (whether a small cell 102' or a large cell (e.g., a macro base station)) may include and / or be referred to as an eNB, gNodeB (gNB), or another type of base station. Some base stations (such as gNB 180) may operate in conventional sub-6 GHz spectrum, millimeter wave frequencies, and / or near-millimeter wave frequencies to communicate with UE 104. When gNB 180 operates in millimeter wave or near-millimeter wave frequencies, gNB 180 may be referred to as a millimeter wave base station. Millimeter wave base station 180 may utilize beamforming 182 with UE 104 to compensate for path loss and short range. Base station 180 and UE 104 may each include multiple antennas (e.g., antenna elements, antenna panels, and / or antenna arrays) to facilitate beamforming.

[0040] Base station 180 may transmit beamformed signals to UE 104 in one or more transmit directions 182'. UE 104 may receive beamformed signals from base station 180 in one or more receive directions 182'. UE 104 may also transmit beamformed signals to base station 180 in one or more transmit directions. Base station 180 may receive beamformed signals from UE 104 in one or more receive directions. Base station 180 / UE 104 may perform beam training to determine the optimal receive and transmit directions for each of base station 180 / UE 104. The transmit and receive directions for base station 180 may be the same or different. The transmit and receive directions for UE 104 may be the same or different.

[0041] EPC 160 may include Mobility Management Entity (MME) 162, other MMEs 164, Serving Gateway 166, Multimedia Broadcast Multicast Service (MBMS) Gateway 168, Broadcast Multicast Service Center (BM-SC) 170, and Packet Data Network (PDN) Gateway 172. MME 162 can communicate with Home Subscriber Server (HSS) 174. MME 162 is the control node that handles signaling between UE 104 and EPC 160. Generally, MME 162 provides bearer and connection management. All user Internet Protocol (IP) packets are transmitted through Serving Gateway 166, which is itself connected to PDN Gateway 172. PDN Gateway 172 provides UE IP address allocation and other functions. PDN Gateway 172 and BM-SC 170 are connected to IP Service 176. IP Service 176 may include the Internet, intranet, IP Multimedia Subsystem (IMS), PS streaming service, and / or other IP services. The BM-SC 170 can provide functions for MBMS user service provisioning and delivery. The BM-SC 170 can serve as an entry point for MBMS transmission to content providers, authorize and initiate MBMS bearer services within a Public Land Mobile Network (PLMN), and schedule MBMS transmissions. The MBMS gateway 168 can distribute MBMS services to base stations 102 belonging to areas of Multicast-Broadcast Single Frequency Networks (MBSFNs) that broadcast specific services, and can be responsible for session management (start / stop) and collecting billing information related to eMBMS.

[0042] The core network 190 may include Access and Mobility Management Functions (AMF) 192, other AMFs 193, Session Management Functions (SMF) 194, and User Plane Functions (UPF) 195. AMF 192 can communicate with the Unified Data Management Unit (UDM) 196. AMF 192 is the control node that handles signaling between UE 104 and the core network 190. Typically, AMF 192 provides QoS flow and session management. All user Internet Protocol (IP) packets are transmitted through UPF 195. UPF 195 provides UE IP address allocation and other functions. UPF 195 connects to IP service 197. IP service 197 may include the Internet, intranet, IP Multimedia Subsystem (IMS), Packet Switched (PS) Streaming (PSS) service, and / or other IP services.

[0043] Base stations may include and / or be referred to as gNB, Node B, eNB, access point, base transceiver station, radio base station, radio transceiver, transceiver function, Basic Services Set (BSS), Extended Services Set (ESS), Transmitter Receiver Point (TRP), or some other suitable term. Base station 102 provides access to EPC 160 or core network 190 for UE 104. Examples of UE 104 include cellular phones, smartphones, Session Initiation Protocol (SIP) phones, laptops, personal digital assistants (PDAs), satellite radio units, global positioning systems, multimedia devices, video devices, digital audio players (e.g., MP3 players), cameras, game consoles, tablets, smart devices, wearable devices, vehicles, electricity meters, air pumps, large or small kitchen appliances, healthcare devices, implants, sensors / actuators, displays, or any other similarly functional devices. Some UEs in UE 104 may be referred to as IoT devices (e.g., parking meters, air pumps, ovens, vehicles, heart monitors, etc.). UE 104 may also be referred to as a station, mobile station, subscriber station, mobile unit, subscriber unit, radio unit, remote unit, mobile device, radio device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, radio terminal, remote terminal, handheld device, user agent, mobile client, client, or any other suitable term.

[0044] Figure 2A Figure 200 shows an example of the first subframe within a 5G NR frame structure. Figure 2B Figure 230 shows an example of a DL channel within a 5G NR subframe. Figure 2C Figure 250 shows an example of a second subframe within a 5G NR frame structure. Figure 2D Figure 280 illustrates an example of a UL channel within a 5G NR subframe. The 5G NR frame structure can be Frequency Division Duplex (FDD) (where, for a specific set of subcarriers (carrier system bandwidth), subframes within that set are dedicated to either DL or UL), or Time Division Duplex (TDD) (where, for a specific set of subcarriers (carrier system bandwidth), subframes within that set are dedicated to both DL and UL). In the process of... Figure 2A , 2CIn the provided example, the 5G NR frame structure is assumed to be TDD, where subframe 4 is configured with slot format 28 (mostly DL), where D is DL, U is UL, and F is flexible between DL / UL, and subframe 3 is configured with slot format 1 (all UL). Although subframes 3 and 4 are shown as having slot formats 1 and 28, respectively, any particular subframe can be configured with any of the various available slot formats 0-61. Slot formats 0 and 1 are all DL and all UL, respectively. Other slot formats 2-61 include a mixture of DL, UL, and flexible symbols. The UE is configured with a slot format via the received Slot Format Indicator (SFI) (dynamically configured via DL Control Information (DCI) or semi-statically / statically configured via Radio Resource Control (RRC) signaling). Note that the following description also applies to the TDD 5G NR frame structure.

[0045] Figure 2A-2D The frame structure is illustrated, and aspects of this disclosure are applicable to other wireless communication technologies that may have different frame structures and / or different channels. A frame (10 ms) can be divided into 10 equal-sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include micro-time slots, which may include 7, 4, or 2 symbols. Each time slot may include 14 or 12 symbols, depending on whether the cyclic prefix (CP) is ordinary or extended. For ordinary CP, each time slot may include 14 symbols, and for extended CP, each time slot may include 12 symbols. Symbols on the DL may be CP Orthogonal Frequency Division Multiplexing (OFDM) (CP-OFDM) symbols. Symbols on the UL may be CP-OFDM symbols (for high-throughput scenarios) or Discrete Fourier Transform (DFT) Extended OFDM (DFT-s-OFDM) symbols (also known as Single Carrier Frequency Division Multiple Access (SC-FDMA) symbols) (for power-constrained scenarios; limited to single-stream transmission). The number of time slots within a subframe is based on the CP and the numbering scheme. The digital scheme defines the subcarrier spacing (SCS) and, in effect, the symbol length / duration (which is equal to 1 / SCS).

[0046]

[0047] For a standard CP (14 symbols / slot), different digital schemes μ0 through 4 allow 1, 2, 4, 8, and 16 slots per subframe, respectively. For an extended CP, digital scheme 2 allows 4 slots per subframe. Accordingly, for both the standard CP and digital scheme μ, there are 14 symbols / slot and 2 slots per subframe. μ One time slot / subframe. The subcarrier spacing can be equal to 2. μ*15kHz, where μ is the digital scheme from 0 to 4. Therefore, digital scheme μ = 0 has a subcarrier spacing of 15kHz, and digital scheme μ = 4 has a subcarrier spacing of 240kHz. The symbol length / duration is inversely related to the subcarrier spacing. Figure 2A-2D Examples are provided for a standard CP (with 14 symbols per time slot) and a digital scheme μ=2 (with 4 time slots per subframe). The time slot duration is 0.25 ms, the subcarrier spacing is 60 kHz, and the symbol duration is approximately 16.67 μs. Within a frame set, one or more distinct bandwidth portions (BWPs) of frequency division multiplexing can exist (see [link to relevant documentation]). Figure 2B Each BWP can have a specific digital scheme and CP (normal or extended).

[0048] A resource grid can be used to represent the frame structure. Each time slot includes a resource block (RB) (also known as a physical RB (PRB)), which lasts for 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme.

[0049] As in Figure 2A As shown, some of the REs carry reference (pilot) signals (RS) for the UE. The RS may include a demodulation RS (DM-RS) for channel estimation at the UE (indicated as R for a particular configuration, but other DM-RS configurations are possible) and a channel state information reference signal (CSI-RS). The RS may also include a beam measurement RS (BRS), a beam refinement RS (BRRS), and a phase tracking RS (PT-RS).

[0050] Figure 2BExamples of various DL channels within a subframe of a frame are shown. The Physical Downlink Control Channel (PDCCH) carries DCI within one or more Control Channel Elements (CCEs) (e.g., 1, 2, 4, 8, or 16 CCEs), each CCE comprising six RE groups (REGs), each REG comprising 12 consecutive REs in an OFDM symbol of an RB. The PDCCH within a BWP can be referred to as a Control Resource Set (CORESET). The UE is configured to monitor PDCCH candidates in a PDCCH search space (e.g., a common search space, a UE-specific search space) during PDCCH monitoring on a CORESET, where the PDCCH candidates have different DCI formats and different aggregation levels. Additional BWPs can span the channel bandwidth at larger and / or lower frequencies. The Primary Synchronization Signal (PSS) can be within symbol 2 of a specific subframe of the frame. The PSS is used by UE 104 to determine subframe / symbol timing and physical layer identification. The Secondary Synchronization Signal (SSS) can be within symbol 4 of a specific subframe of the frame. The SSS is used by the UE to determine the Physical Layer Cell Identifier Group Number and radio frame timing. Based on the Physical Layer Identifier and the Physical Layer Cell Identifier Group Number, the UE can determine the Physical Cell Identifier (PCI). Based on the PCI, the UE can determine the location of the DM-RS. The Physical Broadcast Channel (PBCH), carrying the Master Information Block (MIB), can logically be grouped with the PSS and SSS to form a Synchronization Signal (SS) / PBCH block (also known as an SS block (SSB)). The MIB provides the number of RBs and the System Frame Number (SFN) in the system bandwidth. The Physical Downlink Shared Channel (PDSCH) carries user data, broadcast system information not transmitted via the PBCH (such as System Information Block (SIB)), and paging messages.

[0051] As in Figure 2C As shown, some of the REs in the diagram carry DM-RS for channel estimation at the base station (indicated as R for a specific configuration, but other DM-RS configurations are possible). The UE can transmit DM-RS for the Physical Uplink Control Channel (PUCCH) and DM-RS for the Physical Uplink Shared Channel (PUSCH). The PUSCH DM-RS can be transmitted in the first one or two symbols preceding the PUSCH. The PUCCH DM-RS can be transmitted in different configurations depending on whether a short or long PUCCH is transmitted and the specific PUCCH format used. The UE can transmit a Sounding Reference Signal (SRS). The SRS can be transmitted in the last symbol of a subframe. The SRS can have a comb structure, and the UE can transmit the SRS on one of the combs. The SRS can be used by the base station for channel quality estimation to enable frequency-dependent scheduling on the UL.

[0052] Figure 2D Examples of various UL channels within a subframe of a frame are shown. The PUCCH can be positioned as indicated in one configuration. The PUCCH carries uplink control information (UCI), such as scheduling requests, channel quality indicators (CQI), precoding matrix indicators (PMI), rank indicators (RI), and hybrid automatic repeat request (HARQ) acknowledgment (ACK) feedback (i.e., one or more HARQ ACK bits indicating one or more ACKs and / or negative ACKs (NACKs)). The PUCCH carries data and may also be used to carry buffer status reports (BSR), power headroom reports (PHR), and / or UCIs.

[0053] Figure 3 This is a block diagram of a first wireless device 310 having components for wireless transmission. Wireless device 310 may be a radar device configured to perform the aspects set forth herein. In some examples, wireless device 310 is capable of communicating with another wireless device 350, for example, via a side link and / or access link, such as in combination with... Figure 1 As described. The wireless device 310 may include one or more antennas 320, and may include a transmitter / receiver 318 having a corresponding transmitting processor 316 and a receiving processor 370, the transmitting processor 316 and the receiving processor 370 being configured to perform radar transmission and measurement, such as in combination. Figure 4-5 As described, one or more antennas 320, a transmitter / receiver 318, a transmitting processor 316, and a receiving processor 370 can transmit radar signals and receive reflections of radar signals. A controller / processor 375 can determine radio frequency (RF) sensing information about a target based on the received signals.

[0054] In some examples, in addition to RF sensing, the wireless device 310 is also capable of wireless communication. For communication, packets can be provided to the controller / processor 375. The controller / processor 375 implements Layer 3 and Layer 2 functions. The transmit (TX) processor 316 and receive (RX) processor 370 implement Layer 1 functions associated with various signal processing functions. Different spatial streams can be provided to different antennas 320 via individual transmitters 318TX. Each transmitter 318TX can use the corresponding spatial stream to modulate an RF carrier for transmission.

[0055] At wireless device 350, each receiver 354RX receives signals via its corresponding antenna 352. Each receiver 354RX recovers the information modulated onto the RF carrier and provides the information to the receive (RX) processor 356. TX processor 368 and RX processor 356 implement Layer 1 functions associated with various signal processing functions. RX processor 356 can perform spatial processing on the information to recover any spatial stream destined for wireless device 350. If multiple spatial streams are destined for wireless device 350, they can be combined by RX processor 356 into a single stream, such as an OFDM symbol stream. RX processor 356 can use Fast Fourier Transform (FFT) to transform the OFDM symbol stream from the time domain to the frequency domain. The frequency domain signal can include a separate OFDM symbol stream for each subcarrier of the OFDM signal. Symbols and reference signals on each subcarrier are recovered and demodulated by determining the most probable signal constellation points transmitted by wireless device 310. These soft decisions can be based on a channel estimate calculated by channel estimator 358. The soft decisions can then be decoded and deinterleaved to recover the data and control signals originally transmitted by the wireless device 310 on the physical channel. These data and control signals can then be provided to the controller / processor 359 that implements Layer 3 and Layer 2 functions.

[0056] The controller / processor 359 may be associated with a memory 360 that stores program code and data. The memory 360 may be referred to as a computer-readable medium. The controller / processor 359 can provide demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transport channel and the logical channel to recover IP packets from the EPC 160. The controller / processor 359 may also be responsible for error detection using ACK and / or NACK protocols to support HARQ operation.

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

[0058] The received transmissions at wireless device 310 can be processed in a manner similar to that described for the receiver functions incorporated at wireless device 350. Each receiver 318RX receives signals via its respective antenna 320. Each receiver 318RX recovers the information modulated onto the RF carrier and provides the information to the RX processor 370.

[0059] The controller / processor 375 may be associated with a memory 376 that stores program code and data. The memory 376 may be referred to as a computer-readable medium. In the UL, the controller / processor 375 provides demultiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transport and logical channels to recover packets from the wireless device 350. The controller / processor 375 may also be responsible for error detection using ACK and / or NACK protocols to support HARQ operation.

[0060] At least one of the TX processor 316, RX processor 370, or controller / processor 375 can be configured to perform coupling. Figure 1 The target tracking component 198 is designed to adapt radar transmissions based on congestion levels.

[0061] Wireless communication systems can be configured to share available system resources and provide various telecommunications services (e.g., telephone, video, data, messaging, broadcasting, etc.) based on multiple access technologies that support communication with multiple users (such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, TD-SCDMA, etc.). In many cases, common protocols that facilitate communication with wireless devices are adopted across various telecommunications standards. For example, communication methods associated with eMBB, mMTC, and Ultra-Reliable Low-Latency Communication (URLLC) can be incorporated into the 5G NR telecommunications standard, while others can be incorporated into the 4G LTE standard. Since mobile broadband technology is part of a continuous evolution, further improvements to mobile broadband remain useful for the continued development of such technologies.

[0062] Figure 4 Figure 400 shows radar signals transmitted by vehicle 402 and reflected from target 406a and decoy 406b. A ranging radar can be incorporated into vehicle 402 for use in performing collision avoidance and other related techniques. Although Figure 4 An example of radar application for vehicles is shown, but combined with Figure 4 The aspects described similarly apply to non-vehicle radar equipment. Frequency modulated continuous wave (FMCW) radar, operating in full-duplex mode, can be widely deployed in automotive applications. FMCW radar can be configured to estimate the range, velocity, and / or orientation of detected targets (e.g., targets 406a-406b). After target detection, the FMCW radar and associated systems can continuously track the target. This radar and radar technology can provide improved road safety measures and reduce vehicle collisions.

[0063] Radar device 404 at vehicle 402 can be configured to transmit radar signals / pulses and receive return signals based on radar signals reflected from an object, which may be referred to as a target (e.g., target 406a). Radar device 404 at vehicle 402 can measure the time delay between the transmission of the radar signal and the reception of the return signal to determine the distance to the object from which the return signal is reflected. In some cases, a false target 406b can be detected based on interfering radar signals from another radar device. This other radar device may be associated with a different vehicle (e.g., false target 406b). For example, radar signals from radar device 404 may be reflected from one or more of the false targets 406b and received by radar device 404 at vehicle 402 based on a shortened distance / time offset and at higher power. If radar device 404 at vehicle 402 cannot distinguish the signal from the radar reflection of its own radar signal, vehicle 402 may misinterpret the received signal and incorrectly measure the distance to target 406a. Vehicle 402 can determine the presence of false target 406b at an incorrect location based on the signal.

[0064] As the number of vehicles equipped with sensing devices (such as ranging radar) increases in a given area, the sensing devices may increasingly interfere with each other because there may be little or no coordination between the sensing devices / radars. That is, other vehicles (e.g., decoy 406b) may transmit radar signals independently of the conditions associated with the radar device 404 of vehicle 402. Therefore, the signals received by the radar device 404 of vehicle 402 may include return signals from the radar of vehicle 402 or different signals (e.g., interference) transmitted from the radars of other vehicles (e.g., decoy 406b). Thus, multiple radar sources operating close to each other can cause significant interference to other radars among the multiple radar sources. Since some radar waveforms (such as FMCW) received by the radar device 404 of vehicle 402 may be unsigned, the radar return signals may be indistinguishable from different radar signals transmitted from multiple radar sources.

[0065] Figure 5 Figure 500 shows the radar's transmit signal 502 and return signal 504. Signals 502-504 can be associated with an FMCW waveform used by the radar for frequency scanning. Transmit signal 502 can correspond to an instantaneous frequency that increases from zero to a higher frequency and then decreases back to zero based on a sinusoidal operation. Each up and down scan can correspond to a single pulse or linear frequency modulation of the FMCW. The linear frequency modulation time can be determined by T. c The indication, and the scan upward time can be determined by T. upIndication. For example, the frequency can be scanned from 77GHz to 78GHz to provide a 1GHz scan bandwidth. The past time period for an upward scan of the 1GHz bandwidth can correspond to T. up After the radar scans upward to 78 GHz, it can have an additional / non-zero time length to scan downward and return to 77 GHz. This additional / non-zero time length can correspond to T... down Therefore, T up +T down It can be equal to T c (For example, the duration of a linear frequency modulation / pulse). In the example, it can be based on certain T... c Parameters are used to configure the radar.

[0066] The radar can receive a series of linear frequency modulations matched with the transmitted signal 502 via the return signal 504, although these are delayed based on the location of the object from which the return signal reflects. As the distance between the radar and the object increases, the corresponding delay may become larger. The distance to the object can be determined based on this delay. For example, the frequency increment between the transmitted signal 502 and the return signal 504 can be determined instead of directly measuring the time of the delay, where the frequency increment can be proportional to the delay. The range of the object can be further determined based on the proportion of the delay to the range. The frequency increment can be compared with the range spectrum and beat frequency (F) determined based on the Fast Fourier Transform (FFT). b This is associated with the beat frequency, which can correspond to the mixed output of the transmit signal 502 and the return signal 504. A slope (e.g., per T) can be defined for the upward sweep frequency. up (1 GHz per second) allows the rate of slope change to correspond to the beta(β) parameter.

[0067] The parameters of the transmitted signal 502 and the returned signal 504 can indicate the maximum (e.g., theoretical) detectable range of the radar's FMCW receiver. For radars with a longer range, 100-300 m may be the maximum detectable range. The parameters can also indicate the maximum detectable rate / velocity (e.g., 30-40 m / s). For example, based on multiple received linear frequency modulations, the velocity of an object can be determined based on the Doppler spectrum, and the orientation of the object can be determined based on the direction-of-arrival (DoA) spectrum. In the example, the output can be determined based on parameters of the FMCW waveform, such as x(t) = e jβt^2 ; y(t)=x(t–τ)=e jβ(t–τ)^2 ; and / or y(t)x*(t)=e -j2πβτt e jβτ^2 Where x corresponds to the transmitted linear frequency modulated (LFM) signal, y corresponds to the received LFM signal, t corresponds to time, and j corresponds to... And τ corresponds to the delay between the transmitted and received linear frequency modulation (LFM). That is, three different frequency analyses can be performed to determine range, velocity, and / or direction.

[0068] Figure 6 This is a schematic diagram 600 relating to spectral analysis of radar images. Spectral analysis can be based on the Doppler spectrum, DoA spectrum, and range spectrum. Spectral analysis can also be based on the number of linear frequency modulations N. c Each linear frequency modulation includes a corresponding linear frequency modulation time T. c and beat frequency F b The associated corresponding beta(β) parameter. Each linear frequency modulation can be performed at an initial frequency f. o Start here.

[0069] Spectral analysis can indicate the Doppler spectrum, including phase shifts over time. The angular domain can also be indicated by spectral analysis, where the angular domain can correspond to the DoA spectrum. The range spectrum can include azimuth and elevation angles. The azimuth angle can correspond to the depth portion of schematic diagram 600, while the elevation angle can correspond to the vertical portion of schematic diagram 600.

[0070] Number of linear frequency modulations N c Each linear frequency modulation in the model can be based on the beat frequency F. b Yes, the shooting frequency F b It can indicate the range spectrum. This is achieved via linear frequency modulation of the number N. c The observed beat frequency set can be derived from the time-domain signal. Each linear frequency modulation time T c The phase ramp on the spectrum can correspond to the Doppler spectrum. The Doppler spectrum for each linear frequency modulated (LFM) can be determined based on the range spectrum. For example, an FFT can be performed across the range spectrum to determine the Doppler spectrum based on the phase ramp over time. Similarly, in the angular domain, a second FFT can be performed across the Doppler spectrum to determine the DoA spectrum. While FFT procedures can be performed in conjunction with spectrum analysis, other types of procedures can indicate the Doppler spectrum, the DoA spectrum, and / or the range spectrum. In some cases, 4D spectrum analysis can be performed with multiple antennas associated with the elevation portion of the range spectrum.

[0071] The Doppler spectrum, DoA spectrum, and range spectrum associated with schematic diagram 600 can indicate a radar image. A radar image can include multiple compartments. A target object corresponding to a specific range parameter and a specific Doppler parameter can reflect more energy associated with a specific compartment of the radar image compared to compartments not associated with the target object.

[0072] Figure 7A radar image 700, including multiple compartments for target detection and tracking, and a corresponding detection and tracking flowchart 750 are shown. At 752, the radar can perform target detection and estimation. One or more actual targets (e.g., targets 706 and / or targets aligned with compartment 708 exceeding a threshold signal strength) can correspond to one or more compartments in the radar image 700. The radar can estimate the range, velocity, DoA, etc., of each target 706 / 708 in the radar image 700.

[0073] A radar image can be a two-dimensional radar image. For example, a radar image can correspond to a range along the y-axis and an angle along the x-axis. Radar image 700 can include actual targets, false targets, sidelobes, false detections, etc., based on radar observations. Four actual targets (e.g., 706 / 708) are indicated at first region 710, second region 712, fourth region 716, and fifth region 718, respectively, via radar image 700. A false target is indicated at third region 714 of radar image 700. A false target is a radar detection corresponding to bin 702, which exceeds a threshold signal strength but is not associated with an actual target (e.g., 706 / 708) by the radar. Sidelobes (e.g., indicated via bin 704, which does not exceed a threshold signal strength) are included in first region 710, second region 712, and fifth region 718. A false detection occurs at fourth region 716 of radar image 700. A false detection is a target tracked by the radar but not observed by the radar in the radar image.

[0074] The first region 710 of radar image 700 may include a first detected observation associated with a first target but with errors. For example, the first detected observation may be offset from the actual position of the first target. The second region 712 of radar image 700 may include a second detected observation aligned with the actual position of a second target. For example, the second detected observation and the second target may correspond to the same location in the radar image. The third region 714 of radar image 700 may correspond to a false target. That is, the radar may have sensed the third detected observation, but the third detected observation is not associated with the actual target (e.g., 706 / 708). The fourth region 716 of radar image 700 may correspond to a false detection. For example, the actual target associated with radar image 700 may not have been detected by the radar yet. The fifth region 718 of radar image 700 includes features similar to those of the first region 710 of radar image 700.

[0075] At point 754, the radar can perform target tracking association. For example, the radar can associate targets 706 / 708 with predetermined orbits / trajectories. When the radar is tracking multiple targets 706 / 708, it can identify one or more detected observations (e.g., bin 702 exceeding a threshold signal strength) in the radar image that are associated with the multiple targets 706 / 708 respectively. For example, the radar can determine that the most recently detected observation / bin to target 706 / 708 will be associated with target 706 / 708. Therefore, the radar can determine that target 706 / 708 corresponds to a specific orbit.

[0076] The radar can also identify false targets (e.g., at area 714 in zone 3). Warehouses / areas not associated with targets 706 / 708 may correspond to false targets, especially if all targets 706 / 708 are already associated with other orbits. In this case, the radar can determine that the detected observation is a false target, or that the detected observation may potentially correspond to a new target, and should update the detected observation based on future radar imagery. However, the detected observation may be indicated as a false target unless / until the radar confirms the detection of a new target.

[0077] The radar can also determine which targets are lost. Targets not associated with any detected observations (e.g., at area 716 in zone 4) may correspond to false detections. The radar can also determine which orbits are no longer maintained. For example, based on the lack of detected observations for a false detection target, a false detection target at area 716 in zone 4 may no longer be within the radar's field of view. Such inferences can be based on further observations from future radar imagery to confirm that the orbit is no longer maintained by the radar. Additionally, the radar can determine whether to establish any new orbits. For example, a false target at area 714 in zone 3 can subsequently be associated with an actual target (e.g., 706 / 708) based on future observations / radar imagery.

[0078] At point 756, the radar can perform a trajectory update. At 756, the trajectory update can be based on one or more of the target trajectory association, target range, target velocity, target DoA, etc., at point 754. For example, after the radar performs an association between the detected observations and the actual targets (e.g., 706 / 708) in the radar image at point 754, the trajectory can be updated at point 756. Therefore, the radar can receive each frame of radar imagery based on Doppler, DoA, and / or range (e.g., in elevation / azimuth) and perform target tracking based on the radar imagery. Thus, the set of observations in a radar image frame can be mapped to one or more targets 706 / 708.

[0079] Target tracking technology can be based on the location of the bins of targets 706 / 708. A bin can indicate the range, velocity, DoA, etc., of target 706 / 708. In some cases, the received signal strength associated with a bin can be used for target detection at 752, but not for target tracking association at 754. Radar image Figure 700 shows that some bins (e.g., 702) correspond to received signal strengths exceeding a threshold, while other bins (e.g., 704) correspond to received signal strengths not exceeding a threshold. If the signal strength of bin 702 exceeds the threshold, bin 702 can be associated with target 706 / 708. If the signal strength of bin 704 does not exceed the threshold, bin 704 may not be associated with target 706 / 708. Therefore, the radar can make a binary determination about whether a bin is associated with target 706 / 708 based on the received signal strength. However, in other applications, the received signal strength of each bin can be used more broadly to perform target tracking association at 754.

[0080] If the received signal strength exceeds the detection threshold at 754, a false target may be incorrectly identified as a real target and associated with tracking, provided the cabin strength information is not discarded by the radar. However, exceeding the threshold can correspond to a sudden jump in signal strength that does not indicate a real target. Significant fluctuations in received signal strength within a specific direction / cabin may not be expected over a short period, although slight changes in received signal strength may be anticipated. If the radar detects two consecutive false targets within the same proximity and with significantly different received signal strengths, but disregards the difference in received signal strength, the radar may incorrectly identify the detection as a real target and begin tracking the false target. That is, the radar can check range and Doppler consistency, but not the consistency of received signal strength. Furthermore, if the radar disregards received signal strength, a real / actual target that suddenly changes distance, speed, DoA, etc. (e.g., another vehicle stops moving due to a collision) at 754 may not be successfully associated with target tracking, and the radar may stop tracking the target. Determining the cabin strength associated with the target object can provide improved confidence in target tracking association at 754.

[0081] As FMCW radars become more widely deployed, inter-radar interference and therefore false target detection are likely to occur more frequently. While false detections may not be common when only one radar is present in the environment, multiple radars transmitting simultaneously can interfere with each other. Interference from other radars may correspond to noise that makes false detections more likely. This can reduce the reliability of target tracking techniques. For example, a radar may initiate tracking that does not correspond to a real / actual target, or it may drop tracking because it so frequently falsely detects real / actual targets. Therefore, the radar's return signal strength can include information for making target tracking more robust in the presence of multi-radar interference.

[0082] Target strength can be included as input to the tracking module to increase the reliability of the target tracking association process. In the example, at 754, the filtered signal strength can be used for target tracking association. The filtered signal strength can correspond to the total amount associated with target detection at 752, rather than the amount per instant. For example, velocities x and y or accelerations a and b can correspond to a filtered amount based on multiple radar observations / radar images. The value of the filtered amount can be updated (e.g., at 756) via each observation performed by the radar. Thus, the target tracking filter can predict the state (e.g., position, velocity, acceleration, etc.) of target 706 / 708 based on multiple observations / radar images. In another example, given the radar, the consistency of the received signal strength is evaluated in a similar manner to the consistency evaluated for other state parameters (such as x and y velocity values), which can be state parameters.

[0083] The target tracking filter can be based on a state-space equation that includes parameters indicating the state of target 706 / 708. The state-space equation can be used to predict how changes in the state of target 706 / 708 can be expected. The received signal strength can be correlated with a specific noise level (+ / -), but any such variation in the received signal strength may not exceed a determined threshold relative to the filtered signal strength. Therefore, when the radar receives an observation, it can expect the observation to correspond to state parameters within the determined threshold.

[0084] The radar can exclude detections indicating changes in received signal strength exceeding a predetermined threshold relative to the filtered signal strength. Target 706 / 708 can be associated with multiple parameters used for target tracking at 754. For example, the radar can determine the position, range Doppler, velocity, angle, acceleration in a specific direction, etc., of target 706 / 708. If the received signal strength of the tracked target 706 / 708 changes significantly over time (e.g., exceeding the expected change within the predetermined threshold), the observation may correspond to a false target. For example, if the angle of target 706 / 708 does not change significantly, the radar may not expect the received signal strength to suddenly increase / decrease significantly or randomly jump / change multiple times across multiple radar frames. Therefore, the determination of whether a detection corresponds to a false target may not occur only over two frames but is based on the filtering process and can be determined over time based on inconsistent shifts above or below a predetermined threshold relative to the filtered signal strength.

[0085] The determined threshold can be used to reduce false target detection. In some cases, the threshold can be conservatively set based on the maximum change in the radar cross-section of target 706 / 708, which could be caused by rotation, deformation, scattering, etc. Although the profile of target 706 / 708 can change as target 706 / 708 moves, such a change may not correspond to a large or random change in received signal strength. That is, as the object's profile changes, the change in received signal strength can occur more gradually over time, allowing the determined threshold to be based on the expected maximum change in radar cross-section. Radar cross-section can correspond to the amount of energy that can be reflected back to the radar. If target 706 / 708 has a small cross-section, it can reflect less energy back to the radar compared to different targets with larger cross-sections. In this way, when the threshold is exceeded, the radar can determine whether the observation corresponds to a real target.

[0086] The determined threshold can also be based on changes in maximum antenna gain and / or maximum path loss. If target 706 / 708 moves from a first angle to a second angle, the gain of the radar antenna mode can be changed based on the change in the angular direction of target 706 / 708. The path loss change can be based on moving from the first position to the second position. The threshold can also be based on changes in receiver automatic gain control (AGC) settings and / or signal processing gain, which can correspond to P... rx =P tx +G tx +G rx +RCS-30log 10 (4π)-40log 10R, where P rx Corresponding to the receive path loss, P tx Corresponding to the transmission path loss, G tx Corresponding to the transmit antenna gain, G rx Corresponding to the receive antenna gain, RCS corresponds to the radar cross-section, and R corresponds to the range. In this example, the range can vary, the radar cross-section (RCS) can vary based on the rotation of the target 706 / 708 (e.g., within some reasonable / expected constraints), the gain can vary based on changes in the angle of the target 706 / 708, and so on. The radar can determine whether the parameter changes exceed a certain number of decibels (dB) based on time intervals. If they do, the radar can determine that a false detection has occurred.

[0087] If the received signal strength matches or nearly matches the filtered signal strength, there may be an increased probability that target tracking association should be performed (e.g., at 754). For example, the radar might determine to discard the detection as a false detection simply because the received signal strength has changed too significantly. However, if increased noise and / or interference leads to an increase in the number of errors in the radar's detection, the comparison between the received signal strength and the filtered signal strength can increase the reliability of the target tracking association at 754. For example, the increased noise and / or interference could shift the location of the first target from the actual position associated with the first detected observation. Where the radar might otherwise determine that the first detected observation and the first target correspond to different targets (e.g., because targets 706 / 708 might only be expected to shift by a certain amount), the radar could alternatively associate the first detected observation with the first target based on a comparison of signal strengths. Therefore, signal strength can be included as an observable parameter for assessing the probability of target association.

[0088] Figure 8 This is a flowchart 800 of a method for performing wireless communication at a wireless device. The wireless device may be a radar device 103 / 404; a wireless device 310; a vehicle 402; a device 1002 (e.g., vehicle-mounted radar or non-vehicle-mounted radar); etc. This method can be performed to increase the reliability of target tracking association.

[0089] At 802, the wireless device can measure the received signal strength of the detected signal—the received signal strength is associated with at least one compartment of the radar image. For example, refer to Figure 4 and Figure 7 Radar device 404 can measure the reflected signal from target 406a. The reflected signal can indicate a first compartment (e.g., compartment 702) in radar image 700 that exceeds a signal strength threshold, or a second compartment (e.g., compartment 704) in radar image 700 that does not exceed a signal strength threshold. The measurement at 802 can be performed by... Figure 10The measurement component 1040 of the device 1002 in the middle is used to perform the measurement.

[0090] At 804, the wireless device can compare the received signal strength with the filtered signal strength—correlated with the difference between the filtered signal strength and a threshold signal strength derived from the filtered signal strength. For example, refer to... Figure 4 and Figure 7 Radar device 404 can compare the signal strength of the reflected signal from target 406a with a threshold signal strength to determine whether the signal strength exceeds a threshold signal strength (e.g., for target 702) or does not exceed a threshold signal strength (e.g., for target 704). The threshold signal strength in radar image 700 can be relative to a filter determined based on multiple radar images / data observed over time. The comparison at 804 can be performed by... Figure 10 The comparison component 1042 of the device 1002 in the middle is used to perform the operation.

[0091] At 806, the wireless device can track at least one compartment of a radar image in response to a received signal strength being less than or equal to a threshold signal strength difference from the filtered signal strength. For example, refer to Figure 7 The filtered signal strength can correspond to the expected signal strength of targets 706 / 708. If the received signal strength of the bin (e.g., detected at 752) does not exceed the difference between the filtered signal strength and a certain threshold signal strength, target tracking association can be performed relative to the bin at 754. Tracking at 806 can be performed by... Figure 10 The tracker component 1050 of the device 1002 performs the operation.

[0092] Figure 9 This is a flowchart 900 of a method for performing wireless communication at a wireless device. The wireless device may be a radar device 103 / 404; a wireless device 310; a vehicle 402; a device 1002 (e.g., vehicle-mounted radar or non-vehicle-mounted radar); etc. This method can be performed to increase the reliability of target tracking association.

[0093] At 902, the wireless device can measure the received signal strength of the detected signal—the received signal strength is associated with at least one compartment of the radar image. For example, refer to Figure 4 and Figure 7 Radar device 404 can measure the reflected signal from target 406a. The reflected signal can indicate a first compartment (e.g., compartment 702) or a second compartment (e.g., compartment 704) in radar image 700 that exceeds a signal strength threshold. The received signal strength of the detected signal can correspond to state parameters for the target object (e.g., targets 706 / 708). The measurement at 902 can be performed by... Figure 10The measurement component 1040 of the device 1002 in the middle is used to perform the measurement.

[0094] At 904, the wireless device can compare the received signal strength with the filtered signal strength—correlated with the difference between the filtered signal strength and a threshold signal strength derived from the filtered signal strength. For example, referencing... Figure 4 and Figure 7 Radar device 404 can compare the signal strength of the reflected signal from target 406a with a threshold signal strength to determine whether the signal strength exceeds a threshold signal strength (e.g., at target 702) or does not exceed a threshold signal strength (e.g., at target 704). The threshold signal strength in radar image 700 can be relative to a filter determined based on multiple radar images / data observed over time. The filtered signal strength can correspond to the expected strength of the reflected signal from target 406a, which can be based on multiple received signal strength measurements. The filtered signal strength can be updated based on each of the multiple received signal strength measurements. The comparison at 904 can be performed by... Figure 10 The comparison component 1042 of the device 1002 in the middle is used to perform the operation.

[0095] At 906, the wireless device can indicate the received signal strength associated with at least one compartment of the radar image to the tracking module of the tracking radar image. For example, refer to Figure 4 and Figure 7 Radar device 404 can indicate the received signal strength of the reflected signal from target 406a for target detection at 752, in order to perform target tracking association at 754. The indication at 906 can be... Figure 10 The device 1002 in the middle is instructed by the instruction component 1044 to perform the operation.

[0096] At 908, the wireless device can determine whether the received signal strength is less than or equal to the threshold signal strength difference based on a comparison between the received signal strength and the filtered signal strength. For example, refer to... Figure 4 and Figure 7 Radar device 404 can determine whether the cell in radar image 700 exceeds the signal strength threshold (cell 702) or does not exceed the signal strength threshold (cell 704). The determination at 908 can be made by... Figure 10 The determination component 1046 of the device 1002 in the middle is used to perform the operation.

[0097] At 910, the wireless device can exclude at least one compartment of the radar image from tracking in response to a received signal strength greater than a threshold signal strength difference from the filtered signal strength. For example, refer to Figure 7The filtered signal strength can correspond to the expected signal strength of targets 706 / 708. If (for example, detected at 752) the received signal strength of the bin exceeds the difference between the filtered signal strength and a certain threshold, then at 754, the bin can be excluded from target tracking association. The exclusion at 910 can be determined by... Figure 10 The exclusion component 1048 of the device 1002 in the middle is used to perform this.

[0098] At 912, the wireless device can track at least one compartment of a radar image in response to a received signal strength being less than or equal to a threshold signal strength difference from the filtered signal strength. For example, refer to Figure 7 The filtered signal strength can correspond to the expected signal strength of targets 706 / 708. If the received signal strength of the bin (e.g., detected at 752) does not exceed the difference between the filtered signal strength and a certain threshold signal strength, target tracking association can be performed relative to the bin at 754. Tracking at 912 can be performed by... Figure 10 The tracker component 1050 of the device 1002 performs the operation.

[0099] At point 914, the wireless device can determine the number of instances over time where the received signal strength associated with at least one compartment is less than or equal to a threshold signal strength difference. For example, refer to... Figure 7 Radar image 700 may correspond to one of a plurality of radar images including at least one compartment with a signal strength less than or equal to a threshold signal strength difference. The number of instances over time where the received signal strength associated with at least one compartment is less than or equal to the threshold signal strength difference may be based on radar image 700 and / or multiple radar images generated over time. Furthermore, tracking at least one compartment at 912 in response to a received signal strength less than or equal to the threshold signal strength difference may be based on the determined number of instances over time. The determination at 914 may be made by... Figure 10 The determination component 1046 of the device 1002 in the middle is used to perform the operation.

[0100] At 916, the wireless device can adjust the threshold signal strength difference based on a change in at least one parameter, derived from a previous threshold signal strength difference associated with a previous radar image. For example, referencing Figure 7Radar image 700 may correspond to one of a plurality of radar images indicating received signal strength information. A threshold signal strength difference from the filtered signal strength in radar image 700 can be adjusted (e.g., based on changed parameters) from a previous radar image among the plurality of radar images. In another example, radar image 700 may correspond to a previous radar image, such that a threshold signal strength difference from a subsequent radar image can be adjusted from radar image 700 (e.g., based on changed parameters). The adjustment at 916 can be... Figure 10 The adjustment component 1052 of the device 1002 in the middle is used to perform the adjustment.

[0101] At least one parameter may correspond to the radar cross-section of target 706 / 708, and a change in at least one parameter may correspond to the number of compartments of target 706 / 708 indicated by the detected signal (e.g., used for target detection and estimation at 752). At least one parameter may correspond to the maximum antenna gain, and a change in at least one parameter may correspond to the angle associated with the detected signal (e.g., corresponding to the DoA spectrum in Figure 600) (e.g., used for target detection and estimation at 752). At least one parameter may correspond to the maximum path loss, and a change in at least one parameter may correspond to the location associated with the detected signal (e.g., used for target detection and estimation at 752). A change in at least one parameter may correspond to one or more of the receiver AGC configuration or signal processing gain. A change in at least one parameter may be based on P. rx =P tx +G tx +G rx +RCS-30log 10 (4π)-40log 10 R, where P rx Corresponding to the receive path loss, P tx Corresponding to the transmission path loss, G tx Corresponding to the transmit antenna gain, G rx RCS corresponds to the receiver antenna gain, RCS corresponds to the radar cross section, and R corresponds to the range.

[0102] Figure 10This is a schematic diagram 1000 illustrating an example of a hardware implementation for device 1002. Device 1002 is a radar signal sensing device and includes an RF baseband processor 1004 (also referred to as a modem) coupled to an RF transceiver 1022. In some examples, the device is capable of wireless communication in addition to radar signal sensing. For example, the device may be a radar device, a UE, a base station, or another access point capable of radar signal sensing. If the radar signal sensing device is a UE, the processor may be coupled to one or more Subscriber Identity Module (SIM) cards 1020, an application processor 1006 coupled to a Secure Digital Card (SD) card 1008 and a screen 1010, a Bluetooth module 1012, a Wireless Local Area Network (WLAN) module 1014, a Global Positioning System (GPS) module 1016, and a power supply 1018. The cellular baseband processor 1004 communicates with the UE 104 and / or BS 102 / 180 via the RF transceiver 1022. The RF baseband processor 1004 may include computer-readable media / memory. The computer-readable medium / memory may be non-transitory. The RF baseband processor 1004 is responsible for general processing, including executing software stored on the computer-readable medium / memory. When executed by the RF baseband processor 1004, the software causes the RF baseband processor 1004 to perform the various functions described above. The computer-readable medium / memory may also be used to store data manipulated by the RF baseband processor 1004 during software execution. The RF baseband processor 1004 also includes a receiving component 1030, an RF sensor manager 1032, and a transmitting component 1034. The RF sensor manager 1032 includes one or more of the components shown. The components within the RF sensor manager 1032 may be stored in the computer-readable medium / memory and / or configured as hardware within the RF baseband processor 1004. The cellular baseband processor 1004 may be a component of the wireless device 350 and may include a memory 360 and / or at least one of a TX processor 368, an RX processor 356, and a controller / processor 359. In one configuration, device 1002 may be a modem chip and include only an RF baseband processor 1004, while in another configuration, device 1002 may be an entire RF sensing device (e.g., radar device 103) and include additional modules of device 1002.

[0103] The RF sensor manager 1032 may include a measurement component 1040 configured to measure the received signal strength of a detected signal—the received signal strength associated with at least one compartment of a radar image, for example, as described in conjunction with 802 and 902. The RF sensor manager 1032 may also include a comparison component 1042 configured to compare the received signal strength with a filtered signal strength—the filtered signal strength associated with a threshold signal strength difference from the filtered signal strength, for example, as described in conjunction with 804 and 904. The RF sensor manager 1032 may also include an indication component 1044 configured to indicate the received signal strength associated with at least one compartment of the radar image to a tracking module tracking at least one compartment of the radar image, for example, as described in conjunction with 906. The RF sense manager 1032 may further include a determining component 1046 configured to determine whether a received signal strength is less than or equal to a threshold signal strength difference based on a comparison of the received signal strength with the filtered signal strength; and to determine the number of instances over time where the received signal strength associated with at least one compartment is less than or equal to the threshold signal strength difference, for example, as described in conjunction with 908 and 914. The RF sense manager 1032 may further include an exclusion component 1048 configured to exclude at least one compartment of the radar image from tracking in response to a received signal strength greater than a threshold signal strength difference from the filtered signal strength, for example, as described in conjunction with 910. The RF sense manager 1032 may further include a tracker component 1050 configured to track at least one compartment of the radar image in response to a received signal strength less than or equal to a threshold signal strength difference from the filtered signal strength, for example, as described in conjunction with 806 and 912. The RF sensing manager 1032 may also include an adjustment component 1052 configured to adjust the threshold signal strength difference from a previous threshold signal strength difference associated with a previous radar image based on a change in at least one parameter, for example, as described in conjunction with 916.

[0104] The device may include execution Figure 8-9 The algorithm in the flowchart above consists of additional components in each box. Therefore, it can be executed by these components. Figure 8-9 Each box in the above flowchart, and the apparatus may include one or more of those components. A component may be one or more hardware components specifically configured to perform the process / algorithm, implemented by a processor configured to perform the process / algorithm, stored in a computer-readable medium for implementation by a processor, or some combination thereof.

[0105] In one configuration, device 1002 (specifically, RF baseband processor 1004) includes: a unit for measuring the received signal strength of a detected signal, the received signal strength being associated with at least one compartment of a radar image; a unit for comparing the received signal strength with a filtered signal strength, the filtered signal strength being associated with a threshold signal strength difference from the filtered signal strength; and a unit for tracking at least one compartment of the radar image in response to the received signal strength being less than or equal to the threshold signal strength difference from the filtered signal strength. Device 1002 further includes: a unit for excluding at least one compartment of the radar image from tracking in response to the received signal strength being greater than the threshold signal strength difference from the filtered signal strength. Device 1002 further includes: a unit for determining the number of instances over time where the received signal strength associated with at least one compartment is less than or equal to the threshold signal strength difference, wherein tracking at least one compartment in response to the received signal strength being less than or equal to the threshold signal strength difference is based on the determined number of instances over time. Device 1002 further includes: a unit for determining whether the received signal strength is less than or equal to the threshold signal strength difference based on a comparison of the received signal strength with the filtered signal strength. The apparatus 1002 further includes a unit for instructing a tracking module of at least one compartment of a tracking radar image to a received signal strength associated with at least one compartment of the radar image. The apparatus 1002 also includes a unit for adjusting a threshold signal strength difference based on a change in at least one parameter from a previous threshold signal strength difference associated with a previous radar image.

[0106] The aforementioned unit may be one or more of the aforementioned components of the device 1002 configured to perform the functions described therein. As described above, the device 1002 may include a TX processor 368, an RX processor 356, and a controller / processor 359. Therefore, in one configuration, the aforementioned unit may be the TX processor 368, the RX processor 356, and the controller / processor 359 configured to perform the functions described therein.

[0107] It should be understood that the specific order or hierarchy of the boxes in the disclosed process / flowchart is illustrative of the example method. It should be understood that the specific order or hierarchy of the boxes in the process / flowchart may be rearranged based on design preferences. Furthermore, some boxes may be combined or omitted. The appended method claims give the elements of each box in the order shown, and are not intended to limit one to the given specific order or hierarchy.

[0108] The foregoing description is provided to enable any person skilled in the art to implement the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but are to be endowed with the full scope consistent with the language of the claims, wherein, unless expressly stated otherwise, references to singular elements are not intended to mean “one and only one,” but rather “one or more.” Terms such as “if,” “when,” and “at the same time as,” should be interpreted as meaning “under the condition of,” rather than implying an immediate temporal relationship or reaction. That is, these phrases (e.g., “when”) do not imply an immediate action in response to the occurrence of an action or during the occurrence of such action, but merely that the action will occur if the condition is met, without requiring a specific or immediate temporal constraint on the occurrence of the action. The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or superior to other aspects. Unless expressly stated otherwise, the term “some” refers to one or more. For example, combinations such as "at least one of A, B, or C", "one or more of A, B, or C", "at least one of A, B, and C", "one or more of A, B, and C", and "A, B, C, or any combination thereof" include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, combinations such as "at least one of A, B, or C", "one or more of A, B, or C", "at least one of A, B, and C", "one or more of A, B, and C", and "A, B, C, or any combination thereof" may be only A, only B, only C, A and B, A and C, B and C, or A and B and C, wherein any such combination may include one or more members of A, B, or C. All structural and functional equivalents of the elements described throughout the various aspects of this disclosure that are known to those skilled in the art or will be known later are expressly incorporated herein by reference and are intended to be included by the claims. Furthermore, the disclosure herein is not intended to be offered to the public, whether or not such disclosure is expressly recited in the claims. The terms “module,” “mechanism,” “element,” “device,” etc., may not be substitutes for the term “unit.” Therefore, no claim can be made that an element should be interpreted as a functional module unless the element is explicitly described using the phrase “unit for…”.

[0109] The following aspects are illustrative only and may be combined with other aspects or teachings described herein without limitation.

[0110] Aspect 1 is an apparatus for wireless communication at a wireless device, comprising at least one processor coupled to a memory and configured to: measure a received signal strength of a detected signal, the received signal strength being associated with at least one compartment of a radar image; compare the received signal strength with a filtered signal strength, the filtered signal strength being associated with a threshold signal strength difference from the filtered signal strength; and track the at least one compartment of the radar image in response to the received signal strength being less than or equal to the threshold signal strength difference from the filtered signal strength.

[0111] Aspect 2 can be combined with aspect 1 and includes: the at least one processor is further configured to: exclude the at least one compartment of the radar image from tracking in response to the received signal strength being greater than the threshold signal strength difference from the filtered signal strength.

[0112] Aspect 3 can be combined with any of aspects 1-2 and includes: the filtered signal strength corresponds to the expected strength of the reflected signal from the target object, the expected strength of the reflected signal being based on a plurality of received signal strength measurements.

[0113] Aspect 4 can be combined with any of aspects 1-3, and includes: the filtered signal strength is updated based on each of the plurality of received signal strength measurements.

[0114] Aspect 5 can be combined with any of aspects 1-4 and includes: the at least one processor is further configured to: determine the number of instances with the received signal strength associated with the at least one warehouse that are less than or equal to the threshold signal strength difference over time, wherein tracking the at least one warehouse in response to the received signal strength being less than or equal to the threshold signal strength difference is based on the determined number of instances over time.

[0115] Aspect 6 can be combined with any of aspects 1-5, and includes: the at least one processor is further configured to: determine whether the received signal strength is less than or equal to the threshold signal strength difference based on the comparison between the received signal strength and the filtered signal strength.

[0116] Aspect 7 can be combined with any of aspects 1-6 and includes: the at least one processor is further configured to: indicate to a tracking module tracking the at least one compartment of the radar image the received signal strength associated with the at least one compartment of the radar image.

[0117] Aspect 8 can be combined with any of aspects 1-7, and includes: the received signal strength of the detected signal corresponds to a state parameter for the target object.

[0118] Aspect 9 can be combined with any of aspects 1-8, and includes: the at least one processor is further configured to: adjust the threshold signal strength difference from a previous threshold signal strength difference associated with a previous radar image based on a change in at least one parameter.

[0119] Aspect 10 can be combined with any of aspects 1 to 9, and includes: the at least one parameter corresponds to the RCS of the target object, and the change of the at least one parameter corresponds to the number of bins of the target object indicated by the detected signal.

[0120] Aspect 11 can be combined with any of aspects 1-10, and includes: the at least one parameter corresponds to the maximum antenna gain, and the change of the at least one parameter corresponds to an angle associated with the detected signal.

[0121] Aspect 12 can be combined with any of aspects 1-11 and includes: the at least one parameter corresponds to the maximum path loss, and the change of the at least one parameter corresponds to the location associated with the detected signal.

[0122] Aspect 13 may be combined with any of aspects 1-12 and includes: the change of the at least one parameter corresponds to one or more of the receiver AGC configuration or signal processing gain.

[0123] Aspect 14 can be combined with any of aspects 1-13, and includes: the change of the at least one parameter is based on P. rx =P tx +G tx +G rx +RCS-30log 10 (4π)-40log 10 R, where P rx Corresponding to the receive path loss, P tx Corresponding to the transmission path loss, G tx Corresponding to the transmit antenna gain, G rx RCS corresponds to the receiver antenna gain, RCS corresponds to the radar cross section, and R corresponds to the range.

[0124] Aspect 15 may be combined with any of aspects 1-14, and also includes: a transceiver coupled to the at least one processor.

[0125] Aspect 16 is a method for implementing wireless communication in any of aspects 1-15.

[0126] Aspect 17 is an apparatus for wireless communication, including units for implementing any of aspects 1-15.

[0127] Aspect 18 is a computer-readable medium storing computer-executable code that, in response to execution by at least one processor, enables the at least one processor to implement any of aspects 1-15.

Claims

1. An apparatus for wireless communication at a wireless device, comprising: Memory; as well as At least one processor, coupled to the memory, is configured to: The received signal strength of the detected signal is measured, and the received signal strength is associated with at least one compartment of the radar image; The received signal strength is compared with the filtered signal strength, wherein the filtered signal strength is based on multiple received signal strength measurements associated with a target object, wherein each of the multiple received signal strength measurements is associated with a discrete radar image in a plurality of radar images, and wherein the filtered signal strength is associated with a threshold signal strength difference; and Based on the fact that the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference, the at least one compartment of the radar image is tracked.

2. The apparatus according to claim 1, wherein, The at least one processor is further configured to: Based on the fact that the difference between the received signal strength and the filtered signal strength is greater than the threshold signal strength difference, at least one compartment of the radar image is excluded from tracking.

3. The apparatus according to claim 1, wherein, The filtered signal strength corresponds to the expected strength of the reflected signal from the target object, the expected strength of the reflected signal being measured based on the plurality of received signal strengths.

4. The apparatus according to claim 3, wherein, The at least one processor is further configured to: The filtered signal strength is updated based on each of the plurality of received signal strength measurements.

5. The apparatus according to claim 1, wherein, The at least one processor is further configured to: Determine the number of instances over time where the difference between the received signal strength and the filtered signal strength associated with the at least one compartment is less than or equal to the threshold signal strength difference, wherein, in order to track the at least one compartment of the radar image based on the difference between the received signal strength and the filtered signal strength being less than or equal to the threshold signal strength difference, the at least one processor is configured to: The radar image is also tracked based on the determined number of instances over time, at least one compartment.

6. The apparatus according to claim 1, wherein, The at least one processor is further configured to determine, based on the comparison between the received signal strength and the filtered signal strength, whether the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference.

7. The apparatus according to claim 1, wherein, The at least one processor is further configured to: The at least one processor is configured to indicate to the tracking module the received signal strength associated with at least one compartment of the radar image, wherein, in order to track the at least one compartment of the radar image based on the difference between the received signal strength and the filtered signal strength being less than or equal to a threshold signal strength difference, the at least one processor is configured to: The tracking module is used to track at least one compartment of the radar image.

8. The apparatus according to claim 1, wherein, The received signal strength of the detected signal corresponds to the state parameters for the target object.

9. The apparatus according to claim 1, wherein, The at least one processor is further configured to: The threshold signal strength difference is adjusted based on a change in at least one parameter from the previous threshold signal strength difference associated with the previous radar images in the plurality of radar images.

10. The apparatus according to claim 9, wherein, The at least one parameter corresponds to the radar cross-section (RCS) of the target object, and the change in the at least one parameter corresponds to the number of compartments of the target object indicated by the detected signal.

11. The apparatus according to claim 9, wherein, The at least one parameter corresponds to the maximum antenna gain, and the change in the at least one parameter corresponds to the angle associated with the detected signal.

12. The apparatus according to claim 9, wherein, The at least one parameter corresponds to the maximum path loss, and the change in the at least one parameter corresponds to the location associated with the detected signal.

13. The apparatus according to claim 9, wherein, The change in at least one parameter corresponds to one or more of the receiver automatic gain control (AGC) configuration or signal processing gain.

14. The apparatus according to claim 13, wherein, The change of at least one parameter is based on of, Corresponding to the receive path loss, Corresponding to the transmission path loss, Corresponding to the transmit antenna gain, Corresponding to the receiving antenna gain, Corresponding to the radar cross-section, and Corresponding to the range.

15. The apparatus of claim 1, further comprising a transceiver coupled to the at least one processor, wherein, The at least one processor is configured to: The detected signal is received via the transceiver.

16. A method for wireless communication at a wireless device, comprising: The received signal strength of the detected signal is measured, and the received signal strength is associated with at least one compartment of the radar image; The received signal strength is compared with the filtered signal strength, wherein the filtered signal strength is based on multiple received signal strength measurements associated with a target object, wherein each of the multiple received signal strength measurements is associated with a discrete radar image in a plurality of radar images, and wherein the filtered signal strength is associated with a threshold signal strength difference; and Based on the fact that the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference, the at least one compartment of the radar image is tracked.

17. The method of claim 16, further comprising: Based on the fact that the difference between the received signal strength and the filtered signal strength is greater than the threshold signal strength difference, at least one compartment of the radar image is excluded from tracking.

18. The method according to claim 16, wherein, The filtered signal strength corresponds to the expected strength of the reflected signal from the target object, the expected strength of the reflected signal being measured based on the plurality of received signal strengths.

19. The method of claim 18, further comprising: The filtered signal strength is updated based on each of the plurality of received signal strength measurements.

20. The method of claim 16, further comprising: Determining the number of instances over time where the difference between the received signal strength and the filtered signal strength associated with the at least one compartment is less than or equal to the threshold signal strength difference, wherein tracking the at least one compartment of the radar image based on the difference between the received signal strength and the filtered signal strength being less than or equal to the threshold signal strength difference includes: The radar image is also tracked based on the determined number of instances over time, at least one compartment.

21. The method of claim 16, further comprising: The difference between the received signal strength and the filtered signal strength is determined based on the comparison between the received signal strength and the filtered signal strength. It is determined whether the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference.

22. The method of claim 16, further comprising: Indicating the received signal strength associated with at least one compartment of the radar image to the tracking module, wherein tracking the at least one compartment of the radar image includes, based on the fact that the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference: The tracking module is used to track at least one compartment of the radar image.

23. The method according to claim 16, wherein, The received signal strength of the detected signal corresponds to the state parameters for the target object.

24. The method of claim 16, further comprising: The threshold signal strength difference is adjusted based on a change in at least one parameter from the previous threshold signal strength difference associated with the previous radar images in the plurality of radar images.

25. The method according to claim 24, wherein, The at least one parameter corresponds to the radar cross-section (RCS) of the target object, and the change in the at least one parameter corresponds to the number of compartments of the target object indicated by the detected signal.

26. The method according to claim 24, wherein, The at least one parameter corresponds to the maximum antenna gain, and the change in the at least one parameter corresponds to the angle associated with the detected signal.

27. The method according to claim 24, wherein, The at least one parameter corresponds to the maximum path loss, and the change in the at least one parameter corresponds to the location associated with the detected signal.

28. The method according to claim 24, wherein, The change in at least one parameter corresponds to one or more of the receiver automatic gain control (AGC) configuration or signal processing gain.

29. The method according to claim 28, wherein, The change of at least one parameter is based on of, Corresponding to the receive path loss, Corresponding to the transmission path loss, Corresponding to the transmit antenna gain, Corresponding to the receiving antenna gain, Corresponding to the radar cross-section, and Corresponding to the range.

30. A non-transitory computer-readable medium storing computer-executable code at a wireless device, the code being responsive to execution by at least one processor, causing the at least one processor to perform the following operations: The received signal strength of the detected signal is measured, and the received signal strength is associated with at least one compartment of the radar image; The received signal strength is compared with the filtered signal strength, wherein, The filtered signal strength is based on multiple received signal strength measurements associated with a target object, wherein each of the multiple received signal strength measurements is associated with a discrete radar image in multiple radar images, and wherein the filtered signal strength is associated with a threshold signal strength difference. as well as Based on the fact that the difference between the received signal strength and the filtered signal strength is less than or equal to the threshold signal strength difference, the at least one compartment of the radar image is tracked.

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