Reconfigurable sensing frame for sensing and communication system

Abstract

A communication system reserves a first portion of a transmitted frame for communication symbols and a second portion of the transmitted frame for a plurality of radar sensing symbols. The communication symbol has a variable length. The communication system sets a position of a first symbol of the radar sensing symbols such that the plurality of radar sensing symbols are equidistant in the frame of symbols.

Description

Technical Field

[0001] A communication system is involved. Background Art

[0002] Radar systems are used in a variety of devices to detect and identify objects and determine the characteristics of the objects, such as their distance, speed, direction, or material. For example, some automobiles rely on radar to detect information about nearby objects and thereby support autonomous driving or other driver assistance functions. In addition, some devices that employ radar systems also employ wireless communication systems to send and receive data over a network. For example, some automobiles include cellular or other wireless communication systems to send data (e.g., system update data, map data, and voice call data) to a wireless network and receive data from the wireless network. Summary of the Invention

[0003] As disclosed herein, in some embodiments, a method includes retaining a first portion of a transmitted frame for communication symbols and a second portion of the transmitted frame for a plurality of radar sensing symbols, wherein the communication symbols have variable lengths; and setting a position of a first symbol of the radar sensing symbols such that at least a first subset of the plurality of radar sensing symbols is equidistant in the transmitted frame. In one aspect, setting the position includes: identifying a position of a second symbol of the radar sensing symbols in the frame; and adjusting the position of the first symbol based on the position of the second symbol. In another aspect, adjusting the position includes adjusting the position of the first symbol within the second portion. In another aspect, the second portion includes at least three consecutive symbols of the transmitted frame.

[0004] In one aspect, setting the position of the first symbol includes setting the position of the first symbol based on a specified maximum speed to be detected by the radar sensing symbols. In another aspect, the method includes: setting each of the plurality of radar sensing symbols based on the specified maximum speed. In yet another aspect, a distance between a second symbol and a third symbol of the radar sensing symbols is a multiple of the specified maximum speed, and the second symbol and the third symbol are consecutive radar sensing symbols in the transmitted frame. In still another aspect, the method includes setting a position of a second symbol of the radar sensing symbols such that the plurality of radar sensing symbols are equidistant in the transmitted frame, wherein a position of the first symbol in a first symbol subset is different from a position of the second symbol in a second symbol subset. In another aspect, a first communication symbol among the communication symbols has a different length from a second communication symbol among the communication symbols.

[0005] In some embodiments, a method includes: generating a plurality of communication symbols and a plurality of radar sensing symbols; generating a frame by interleaving the plurality of radar sensing symbols among the plurality of communication symbols such that at least a first subset of the plurality of radar sensing symbols are equally spaced within the frame; and transmitting the frame. In one aspect, generating the frame includes: identifying a position of a first symbol of the radar sensing symbols within the frame; and adjusting a position of a second symbol based on the position of the first symbol. In another aspect, adjusting the position of the second symbol includes setting the position of the second symbol based on a specified maximum speed to be detected by the radar sensing symbols.

[0006] In some embodiments, an apparatus includes: a processor configured to: reserve a first portion of the frame for communication symbols and a second portion of the frame for a plurality of radar sensing symbols, wherein the communication symbols have variable lengths; and set a position of a first symbol of the radar sensing symbols such that at least a first subset of the plurality of radar sensing symbols are equally spaced within the frame; and a transmitter for transmitting the frame. In one aspect, the processor sets the position by: identifying a position of a second symbol of the radar sensing symbols within the frame; and adjusting the position of the first symbol based on the position of the second symbol. In another aspect, adjusting the position includes adjusting the position of the first symbol within the second portion.

[0007] In one aspect, the second portion includes at least three consecutive symbols of the frame. In another aspect, the processor sets the position by: setting the position of the first symbol based on a specified maximum speed to be detected by the radar sensing symbols. In one aspect, the processor is configured to: set each of the plurality of radar sensing symbols based on the specified maximum speed. In another aspect, a distance between a second symbol and a third symbol is a multiple of the specified maximum speed, and wherein the second symbol and the third symbol are consecutive radar sensing symbols within the frame. In yet another aspect, the communication symbols include orthogonal frequency division multiplexing (OFDM) symbols.

[0008] In some embodiments, certain aspects of the techniques described above may be implemented by one or more processors of a processing system executing software. The software comprises a set or sets of executable instructions stored or otherwise tangibly embodied on a non-transitory computer-readable storage medium. The software may include instructions and certain data which, when executed by one or more processors, cause the one or more processors to perform one or more aspects of the techniques described above. The non-transitory computer-readable storage medium may include, for example, a magnetic or optical disk storage device, a solid state storage device such as flash memory, a cache, a random access memory (RAM), or other one or more non-volatile memory devices, and the like. The executable instructions stored on the non-transitory computer-readable storage medium may be in the form of source code, assembly language code, object code, or in other instruction formats that can be interpreted or otherwise executed by one or more processors.

[0009] A computer-readable storage medium may include any storage medium or combination of storage media that is accessible by a computer system during use to provide instructions and / or data to the computer system. Such storage media may include, but are not limited to, optical media (e.g., compact disc (CD), digital versatile disc (DVD), Blu-ray disc), magnetic media (e.g., floppy disk, magnetic tape, or magnetic hard drive), volatile memory (e.g., random access memory (RAM) or cache memory), non-volatile memory (e.g., read only memory (ROM) or flash memory), or microelectromechanical systems (MEMS)-based storage media. The computer-readable storage medium may be embedded in the computing system (e.g., system RAM or ROM), fixedly attached to the computing system (e.g., magnetic hard drive), removably attached to the computing system (e.g., optical disc or universal serial bus (USB)-based flash memory), or coupled to the computer system via a wired or wireless network (e.g., network-attached storage device (NAS)). BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present disclosure may be better understood by reference to the accompanying drawings, and will enable those skilled in the art to appreciate its numerous features and advantages. Like reference symbols are used in different drawings to indicate similar or identical items.

[0011] Figure 1 is a block diagram of a communication system that reserves symbols for radar samples in a communication frame according to some embodiments.

[0012] Figure 2 is a diagram showing an example of a communication system that reserves symbols for radar samples in a communication frame according to some embodiments Figure 1 of the communication system.

[0013] Figure 3is a diagram showing multiple communication symbols of a communication frame according to some embodiments. Figure 2

[0014] Figure 4 is a diagram showing an example of a communication system that locates radar samples in a set of frames according to some embodiments. Figure 1

[0015] Figure 5 is a diagram showing an example of radar samples placed in different positions within different frames by a communication system according to some embodiments. Figure 1

[0016] Figure 6 is a diagram showing an example of a communication system according to some embodiments that omits radar samples in selected frames to increase communication bandwidth. Figure 1

[0017] Figure 7 is a flowchart of a method for setting the positions of radar samples in a set of reserved radar symbols at a communication system according to some embodiments. DETAILED DESCRIPTION

[0018] Some devices employ a radar system to detect objects near the device and a communication system to send and receive data from a network. For example, some automobiles employ a radar system to detect the presence of nearby objects and thus support features such as parking assist, adaptive cruise control, etc. In addition, these automobiles employ a communication system to send and receive data from a network (e.g., a communication network that provides a connection to a wide area network such as the Internet). For example, some automobiles include a fifth generation (5G) mobile network communication system to send and receive data via a 5G network. To conserve system resources, it is desirable to combine at least some aspects of the radar and communication systems. For example, both the radar system and the communication system employ transmit and receive antennas, and combining the systems to use the same transmit and receive antennas reduces the total number of antennas employed by the device.

[0019] One way to integrate a radar and communication system is to combine data to be transmitted over a network (referred to herein as "communication data") and radar data into a combined data frame and transmit the combined data frame using the same transmission circuitry. However, combining radar and communication data in this manner potentially affects the radar performance, communication performance, or both of the system. For example, in order for a radar system to accurately detect the characteristics of a detected object, such as object velocity, the radar samples should be equidistant in the transmitted data stream (i.e., the time interval between each set of consecutive radar samples should be the same). However, for at least some communication systems, the content of the communication data may vary over time, making it difficult to maintain the equidistance of the radar samples in the combined data stream. For example, 5G communication data (i.e., data compliant with the 5G communication standard) typically includes cyclic prefixes (CPs) of different sizes in order to meet the 5G requirement of a fixed duration of a frame. Thus, combining radar samples with 5G communication symbols in the data stream can result in the radar samples having varying distances between consecutive sample groups in the data stream, making it difficult for the radar system to accurately determine the velocity of the detected object.

[0020] Figures 1 to 7 Techniques are shown for integrating a radar and a wireless communication system while maintaining the ability of the radar system to accurately determine the characteristics of detected objects. The techniques include combining communication data and radar samples into a frame and transmitting the frame using a set of antennas. The combined communication system assigns symbols of the frame to the radar samples in a manner that ensures equidistance between at least a subset of the radar samples. For example, in some embodiments, the communication system reserves "extra" symbols for the radar samples. That is, the communication system reserves more symbols than are needed to store all of the radar samples. The communication system adjusts the positions of the samples within each set of reserved symbols such that the samples are equidistant over multiple sets of consecutive reserved symbols. This ensures that the communication system can accurately determine the velocity of the detected object.

[0021] Figure 1 A communication system 100 is shown in accordance with some embodiments. The communication system 100 is generally configured to transmit a data stream, where the data stream includes a combination of wireless communication data and radar samples for detecting the characteristics of objects near the communication system 100. Thus, in different embodiments, the communication system 100 is part of any one of a plurality of devices that employ both radar and wireless communication. For purposes of description, it is assumed that the communication system 100 is part of an automobile.

[0022] To support both radar sensing and wireless transmission and reception of data, communication system 100 includes a processor 102, a radar control module 104, a transmitter 106, a receiver 108, and a frame assembler 110. The transmitter 106 is a set of circuits that are jointly configured to transmit a data stream via a set of antennas (e.g., antenna 111). Thus, in some embodiments, the transmitter 106 includes a set of circuits corresponding to the physical (or PHY) layer for transmitting one or more signals. Thus, in different embodiments, the transmitter 106 includes one or more filters, digital-to-analog converters, amplifiers, mixers, and other circuits to receive a set of frames for transmission, process those frames into a data stream, and transmit the data stream via one or more signals. In some embodiments, the transmitter 106 is configured to generate a data stream and corresponding signals according to a specified communication standard, such as the 5G communication standard.

[0023] The receiver 108 is a set of circuits that are jointly configured to receive signals via a set of antennas (e.g., antenna 113). Thus, in some embodiments, the receiver 108 includes a set of circuits corresponding to the physical (or PHY) layer for receiving one or more signals. Thus, in different embodiments, the receiver 108 includes one or more filters, amplifiers, mixers, analog-to-digital converters, and other circuits to receive signals and process those received signals into a data set, represented as received radar data 105. The received radar data 105 represents signals received in response to the transmission of radar signals from the transmitter 106 and thus indicates the characteristics of any reflected signals generated by the transmitted signals. It should be understood that although Figure 1 the illustrated embodiments show a single transmitter antenna 111 and a single receiver antenna 113, in other embodiments, the communication system 100 includes multiple transmitter antennas and multiple receiver antennas.

[0024] The processor 102 is a processor device, such as a central processing unit (CPU) configured to execute instructions (e.g., applications) to perform the operations further described herein. In other embodiments, the processor 102 represents dedicated circuitry designed and configured to perform the operations further described herein. For example, in different embodiments, the processor 102 represents hard-coded circuitry (e.g., the corresponding portion of an application-specific integrated circuit (ASIC) or a set of logic gates, storage elements, and other components selected and arranged to perform the attributed operations), programmable circuitry (e.g., the corresponding portion of a field-programmable gate array (FPGA) or a programmable logic device (PLD)) that executes the operations further described herein.

[0025] Examples of operations performed by processor 102 include generating data to be wirelessly transmitted according to a wireless communication standard such as the 5G communication standard, represented as communication data 114. For example, in some embodiments, processor 102 generates communication data to be wirelessly transmitted via a specified orthogonal frequency division multiplexing (OFDM) scheme. In at least some embodiments, the OFDM scheme specifies the size and other characteristics of the frame to be transmitted and additionally specifies the number of symbols to be transmitted in each frame. Thus, for example, in some embodiments, communication system 100 implements a 5G OFDM scheme where each frame is a ten millisecond (ms) frame, where each frame includes a specified number of time slots (e.g., ten time slots, twenty time slots, forty time slots, or eighty time slots) and each time slot includes fourteen OFDM symbols, and processor 102 generates communication data 114 as a set of symbols to be transmitted via OFDM.

[0026] In addition to generating communication data 114, processor 102 is configured to receive radar data, such as received radar data 105. Received radar data 105 represents data received by communication system 100 in response to transmitted radar sensing signals, as further described below. In other words, received radar data 105 represents reflected radar signals received by communication system 100. Based on these reflected radar signals, processor 102 determines characteristics of one or more objects near communication system 100, such as object speed, object distance, object direction, etc.

[0027] Radar control module 104 is a set of circuits configured together to generate a radar waveform (e.g., radar waveform 112) for transmission. In some embodiments, radar control module 104 generates an OFDM waveform - i.e., a waveform suitable for transmission via a set of OFDM symbols. For example, in some embodiments, radar control module 104 generates a set of signal samples for transmission.

[0028] The frame assembler 110 is a set of circuits configured to receive radar waveform data (e.g., radar waveform 112) and communication data (e.g., communication data 114) and further configured to combine the received data into a frame (e.g., communication and radar frame 116) for transmission by the transmitter 106. By way of example, assume that in some embodiments, the frame assembler 110 is configured to assemble OFDM frames, where each OFDM frame has a specified length (e.g., 10 ms) and is composed of a specified number of time slots (e.g., ten time slots, twenty time slots, forty time slots, or eighty time slots), and where each time slot is composed of a specified number of symbols (e.g., 14 symbols). The frame assembler 110 assembles one or more of the frames (e.g., frame 116) to include both communication symbols (i.e., symbols carrying at least a portion of the communication data 114) and sensing symbols (i.e., symbols carrying at least a portion of the samples of the radar waveform 112 to be used for radar sensing). The frame assembler 110 provides the assembled frame to the transmitter 106, which transmits the combined frame via one or more signal transmissions.

[0029] According to some embodiments, an example of part 220 of the combined communication and radar frame 116 is shown at Figure 2 In the illustrated embodiment, part 220 of frame 116 includes both communication symbols such as communication symbols 222 and 223 and a sensing symbol such as sensing symbol 224.

[0030] According to some embodiments, an example of communication symbols 222 and 223 is shown at Figure 3 In the example shown, symbol 223 carries only communication data, but symbol 222 carries both data 326 and cyclic prefix 325. The cyclic prefix 325 is mandated by some communication protocols to account for, e.g., channel maximum delay. However, for some communication protocols, the length of the cyclic prefix varies between different communication symbols. For example, under the 5G New Radio (NR) standard, frames of a fixed means (e.g., 10 ms) are constructed using OFDM symbols. The structure of each frame is built based on characteristics of the OFDM signal, such as subcarrier spacing, number of subcarriers, and cyclic prefix (CP) length. The CP length is set to cover the channel maximum delay; however, this length is not the same for all OFDM symbols. The CP is classified into long CP and short CP. The short CP is based on the maximum channel delay requirement, and most of the OFDM symbols in a frame carry the short CP. The long CP appears periodically along the frame. In 5G NR, this type of CP appears once every half subframe (0.5 ms) and also allows for padding samples to meet the specified frame duration.

[0031] The variable length of the CP presents challenges in combining sensing symbols and communication symbols into the same set of frames. For example, to enable the processor 102 to accurately determine the speed of the detected object, it is desirable for the radar samples to be equally spaced in time at a specified symbol repetition interval T SRI This equal spacing ensures that the phase used by the processor 102 to estimate speed linearly increases across consecutive OFDM symbols. However, due to the different CP lengths, if the radar samples are always placed at the same position within a set of sensing symbols, this equal-spacing property cannot be ensured. Placing the radar samples in this way limits the possible measurable speeds. For example, since the maximum speed detectable by the processor 102 is given by the expression which is inversely proportional to T SRI if T SRI is already fixed, the maximum speed v u cannot be increased.

[0032] Therefore, to address these limitations and support equally spaced sensing symbols, the frame assembler 110 is configured to reserve additional sensing symbols in each frame, above the number of symbols required to store the radar samples. For example, in the Figure 2 illustrated embodiment, the frame assembler 110 reserves three sensing symbols in section 220 of frame 116, even though only two symbols have sufficient size to store the radar samples for transmission. To ensure equally spaced sensing symbols, the frame assembler 110 adjusts the start position of the radar samples to be used for radar processing by the processor 102. Specifically, the frame assembler 110 adjusts the start position of the radar samples such that each pair of radar samples is equally spaced in time, with an interval between groups of radar samples based on the specified maximum speed T SRI According to some embodiments, an example of this equal spacing is shown at Figure 4 .

[0033] Figure 4 shows a communication flow 420, including multiple frames formed by the frame assembler 110. The multiple frames include three sets of sensing symbols, denoted as set 432, set 434, and set 436. Each of sets 432, 434, and 436 is followed by a group of communication symbols to form the flow 420. That is, the flow 420 is a combination of sensing symbols and communication symbols for transmission by the transmitter 106.

[0034] Each of sets 432, 434, and 436 includes a set of radar samples. For example, in some embodiments, each set of sensing symbols includes at least 2N fft samples, where N fft is the OFDM fast Fourier transform (FFT) length. In some embodiments, the first N fft samples are the next N fftcopies of samples in order to satisfy the maximum unambiguous distance. Because there are more than 2N available in each of groups 432, 434, and 436 fft samples, so 2N can be adjusted in each group by the frame assembler 110 fft The starting positions of the samples are such that the samples are equidistant across groups 432, 434, and 436. Figure 4 In the embodiment, each group of 2N fft The start of samples is indicated by lines. Specifically, line 437 indicates the 2N at group 432. fft The beginning of samples, line 438 indicates 2N at group 434 fft samples, and line 439 indicates the 2N at group 436. fft As shown in the figure, the frame assembler 110 has positioned the start of each group of samples so that each pair of consecutive samples is separated by an interval T SRI Thus, frame assembler 110 positions radar samples to be equidistant in stream 420 , thereby enabling processor 102 to accurately determine the velocity of detected objects.

[0035] To ensure that radar samples are equidistant, in some cases the frame assembler 110 positions 2N differently within different sensing symbol groups. fft According to some embodiments, at Figure 5 Specifically, Figure 5 Radar symbol group 434 and radar symbol group 436 are shown. Group 434 includes radar sample 538, while group 436 includes radar sample 539. Each of groups 434 and 436 includes space or positions for thirty samples, and the radar samples are positioned differently within each group. For example, frame assembler 110 has placed the start of radar sample 538 at the tenth sample position of group 434, and has placed the start of radar sample 539 at the seventeenth position of group 436. Thus, for different sensing symbol groups, frame assembler 110 positions the start of corresponding radar samples at different positions within the group to ensure that the start of the radar samples are equally spaced in time.

[0036] In some cases, the use of symbol space in the data stream transmitted by the communication system 100 undesirably reduces the communication bandwidth of the system. Therefore, in some embodiments, the frame assembler 110 is configured to "skip" designated intervals by not including radar symbols in the frames corresponding to those intervals, but instead placing the communication data in the locations that would otherwise be used for sensing symbols. This increases the communication bandwidth of the communication system 100 while reducing the accuracy of the system's radar detection to some extent. According to some embodiments, in Figure 6 Examples are shown here.

[0037] Figure 6 Shows data stream 650 transmitted by communication system 100. Stream 650 includes four groups of radar symbols, denoted as group 651, group 652, group 653, and group 654. Groups 651 - 654 are placed in stream 650 by frame assembler 110 such that the radar samples between two consecutive groups are separated in time by a plurality of intervals T SRI apart. Thus, the spacing (in time) between the samples of group 651 and group 652 is interval T SRI . Similarly, frame assembler 110 has positioned the samples of groups 653 and 654 such that the interval between the samples is interval T SRI . However, frame assembler 110 has positioned the samples of groups 652 and 653 such that the interval between the samples is 2T SRI . That is, the interval between the radar samples of groups 652 and 653 is twice the interval between the radar samples of groups 651 and 652. Thus, in some embodiments, the frame assembler periodically extends the interval between groups of radar samples to a multiple of interval T SRI , thereby increasing the amount of communication data (e.g., the number of 5G symbols) transmitted in a given amount of time, and thus increasing the communication bandwidth of communication system 100. Frame assembler 110 also maintains the interval T SRI between at least some consecutive groups of radar samples, and thus maintains a specified radar sensing performance level.

[0038] Figure 7 Shows a flowchart of method 700 for setting the position of radar samples in a set of reserved radar symbols at a communication system according to some embodiments. Method 700 is described below with respect to an example implementation at communication system 100 of Figure 1 . However, it should be understood that in other embodiments, method 700 is implemented at communication systems and devices with different configurations.

[0039] At block 702, frame assembler 110 receives communication data 114, which represents data to be wirelessly transmitted by transmitter 106. Additionally, at block 704, frame assembler 110 receives radar waveform 112, which represents radar samples to be transmitted by transmitter 106. At block 706, frame assembler 110 reserves a specified number of symbols in the frame for the radar samples. For example, in some embodiments, frame assembler 110 reserves three consecutive symbols of the frame as sensing symbols. Frame assembler 110 reserves enough sensing symbols such that the position of the samples in the sensing symbols can be adjusted without losing any samples.

[0040] At block 708, the frame assembler 110 positions the radar samples within the sensing symbols based on the interval between the previous set of radar samples. For example, in some embodiments, the frame assembler 110 positions the radar samples such that the interval between the transmission of the last radar sample from the previous set of sensing symbols and the transmission of the first radar sample in the current radar sample set is equal to a specified interval T SRI . The frame assembler 110 thus ensures that the radar sample sets are transmitted by the transmitter 106 at equal intervals. At block 710, the frame assembler 110 assembles frame 116 with both communication symbols and radar symbols. At block 712, the transmitter 106 transmits frame 116.

[0041] It should be noted that not all of the activities or elements described above in the general description are required, that a particular activity or device part may not be needed, and that one or more additional activities or elements may be performed or included in addition to those described. Further, the order in which the activities are listed is not necessarily the order in which they are performed. Also, concepts have been described with reference to specific embodiments. However, those skilled in the art will appreciate that various modifications and changes can be made without departing from the scope of the present disclosure as set forth in the following claims. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present disclosure.

[0042] The above describes benefits, other advantages, and solutions to problems with respect to specific embodiments. However, these benefits, advantages, solutions to problems, and any features that may cause any benefit, advantage, or solution to occur or become more pronounced should not be construed as critical, required, or essential features of any or all of the claims. Additionally, the specific embodiments disclosed above are illustrative only, as the disclosed subject matter may be modified and practiced in different but equivalent manners obvious to those skilled in the art that benefit from the teachings herein. The details of the construction or design shown herein are not intended to be limiting other than as described in the appended claims. Accordingly, it is apparent that the specific embodiments disclosed above may be varied or modified, and all such variations are considered to be within the scope of the disclosed subject matter. Thus, the protection sought herein is as set forth in the appended claims.

Claims

1. A method, characterized in that The method comprises: reserving a first portion of the transmitted frame for a communication symbol and a second portion of the transmitted frame for a plurality of radar sensing symbols, wherein the communication symbol has a variable length; and A first symbol of the radar sensing symbols is positioned such that at least a first subset of the plurality of radar sensing symbols are equidistant in the transmitted frame.

2. The method according to claim 1, characterized in that Setting the location includes: identifying a position of a second symbol of the radar sensing symbol in the frame; and The position of the first symbol is adjusted based on the position of the second symbol.

3. The method according to claim 2, characterized in that Adjusting the position includes adjusting the position of the first symbol within the second portion.

4. The method according to claim 3, characterized in that The second portion comprises at least three consecutive symbols of the transmitted frame.

5. The method according to claim 1, characterized in that Setting the position of the first symbol includes setting the position of the first symbol based on a specified maximum speed to be detected by the radar sensing symbol.

6. The method according to claim 5, characterized in that Also includes: Each of the plurality of radar sensing symbols is set based on the specified maximum speed.

7. The method according to claim 6, characterized in that: A distance between a second symbol and a third symbol of the radar sensing symbol is based on a multiple of the specified maximum speed, and wherein the second symbol and the third symbol are consecutive radar sensing symbols in the transmitted frame.

8. The method according to claim 1, characterized in that Also included is positioning a second symbol of the radar sensing symbols so that the plurality of radar sensing symbols are equidistant in the transmitted frame, wherein a position of the first symbol in a first symbol subset is different from a position of the second symbol in a second symbol subset.

9. A method, characterized in that The method comprises: generating a plurality of communication symbols and a plurality of radar sensing symbols; generating a frame by spacing the plurality of radar sensing symbols between the plurality of communication symbols such that at least a first subset of the plurality of radar sensing symbols are equidistant in the frame; and The frame is transmitted.

10. A device, characterized in that: The device comprises: A processor configured to: reserving a first portion of a frame for a communication symbol and a second portion of the frame for a plurality of radar sensing symbols, wherein the communication symbol has a variable length; and Positioning a first symbol of the radar sensing symbols so that at least a first subset of the plurality of radar sensing symbols are equidistant in the frame; and A transmitter is configured to transmit the frame.

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