Radar interference mitigation

Abstract

To reduce interference with other vehicle radar in a vehicle radar sensor.SOLUTION: The device may receive a communication indicating a first radar signal pattern parameter set associated with another device. The device may select a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set. The device may transmit radar signals using the second radar signal pattern parameter set.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] Aspects of the present disclosure generally relate to vehicle radar sensors, for example, radar interference mitigation. [Background technology]

[0002]

[0002] A vehicle may include a sensor system including one or more sensors for determining characteristics associated with the vehicle and / or the vehicle's environment. For example, such a sensor system may be configured to detect proximity to objects, weather conditions, road conditions, vehicle speed, traffic conditions, the location of the vehicle, and / or the like. Summary of the Invention

[0003]

[0003] In some aspects, a method of wireless communication performed by a device includes receiving a communication indicating a first radar signal pattern parameter set associated with another device, selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set, and transmitting a radar signal using the second radar signal pattern parameter set.

[0004]

[0004] In some aspects, a device for wireless communication includes a memory and one or more processors operably coupled to the memory, wherein the memory and the one or more processors are configured to: receive a communication indicating a first radar signal pattern parameter set associated with another device; select a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set; and transmit a radar signal using the second radar signal pattern parameter set.

[0005]

[0005] In some aspects, a non-transitory computer-readable medium storing a set of instructions for wireless communication includes one or more instructions that, when executed by one or more processors of a device, cause the device to receive a communication indicating a first radar signal pattern parameter set associated with another device, select a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set, and transmit a radar signal using the second radar signal pattern parameter set.

[0006]

[0006] In some aspects, an apparatus for wireless communication includes means for receiving a communication indicating a first radar signal pattern parameter set associated with another apparatus, means for selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set, and means for transmitting a radar signal using the second radar signal pattern parameter set.

[0007]

[0007] Aspects generally include methods, apparatus, systems, computer program products, non-transitory computer-readable media, user devices, user equipment, wireless communication devices, and / or processing systems substantially as described with reference to and illustrated by the drawings and specification.

[0008]

[0008] The foregoing has outlined, rather broadly, the features and technical advantages of examples according to the present disclosure in order that the detailed description that follows may be better understood. Additional features and advantages are described hereinafter. The concepts and examples disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. Such equivalent structures do not depart from the scope of the appended claims. The nature of the concepts disclosed herein, both their organization and method of operation, and associated advantages, will be better understood from the following description when considered in conjunction with the accompanying figures. Each of the figures is provided for the purpose of illustration and description, and not as a definition of the limits of the claims.

[0009]

[0009] In order that the above-listed features of the present disclosure may be understood in detail, the above briefly summarized description may be made more specific by referring to embodiments, some of which are illustrated in the accompanying drawings. However, it should be noted that the accompanying drawings illustrate only certain typical embodiments of the present disclosure and therefore should not be considered as limiting its scope, and the description may admit of other equally effective embodiments. The same reference numbers in different drawings may identify the same or similar elements. [Brief explanation of the drawings]

[0010] [Figure 1]

[0010] FIG. 1 illustrates an example environment in which radar interference mitigation as described herein may be implemented in accordance with various aspects of the present disclosure. [Figure 2]

[0011] 2 illustrates example components of one or more devices shown in FIG. 1, such as a vehicle on-board unit or a roadside unit, in accordance with various aspects of the present disclosure. [Figure 3]

[0012] FIG. 1 illustrates an example associated with radar interference mitigation in accordance with various aspects of the present disclosure. [Figure 4] FIG. 1 illustrates an example associated with radar interference mitigation in accordance with various aspects of the present disclosure. [Figure 5] FIG. 1 illustrates an example associated with radar interference mitigation in accordance with various aspects of the present disclosure. [Figure 6]

[0013] 1 is a flowchart of an example process associated with radar interference mitigation, in accordance with various aspects of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011]

[0014] Various aspects of the present disclosure are described more fully hereinafter with reference to the accompanying drawings. However, the present disclosure may be embodied in many different forms and should not be construed as limited to any specific structure or function presented throughout this disclosure. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Based on the teachings herein, those skilled in the art should recognize that the scope of the present disclosure is intended to cover any aspect of the disclosure disclosed herein, whether implemented independently or in combination with any other aspect of the disclosure. For example, an apparatus may be implemented or a method may be practiced using any number of the aspects described herein. In addition, the scope of the present disclosure is intended to cover an apparatus or method that is practiced using other structure, functionality, or structure and functionality in addition to or other than the various aspects of the disclosure described herein. It should be understood that any aspect of the disclosure disclosed herein may be embodied by one or more elements of a claim.

[0012]

[0015] Many vehicles are equipped with advanced driver assistance systems (ADAS) designed to improve driving convenience and safety by alerting drivers to impending collisions, temporarily automating and / or adapting vehicle controls such as acceleration, braking, and steering, or otherwise assisting motorists while driving. For example, ADAS technologies may support forward collision warning, automatic emergency braking, lane departure warning, lane keeping assist, blind spot monitoring, rear cross traffic alert, adaptive cruise control, automatic lights, collision avoidance, and / or pedestrian collision avoidance mitigation. Furthermore, vehicles are increasingly equipped with technologies that support autonomous driving, whereby the vehicle travels safely with little or no human input. As ADAS, autonomous driving, and / or similar technologies become more prevalent, road collision rates could potentially be reduced by reducing incidents caused (at least in part) by human error (e.g., by warning drivers of potential problems or by controlling the vehicle to avoid a collision).

[0013]

[0016] To enable ADAS functionality and / or autonomous driving, vehicles are typically equipped with a sensor suite that includes various sensors that can perceive or otherwise sense characteristics associated with the vehicle (e.g., movement and / or location data) and / or characteristics associated with the environment surrounding the vehicle (e.g., signs, obstacles, the presence of other vehicles, and / or the presence of vulnerable road users such as pedestrians and / or cyclists). For example, a sensor suite on a particular vehicle that supports ADAS functionality and / or autonomous driving may include one or more cameras, radar sensors, light detection and ranging (LIDAR) sensors, sonar sensors, global navigation satellite system (GNSS) receivers, vehicle odometers, and / or inertial measurement units.

[0014]

[0017] A vehicle may use a radar sensor to detect the location of targets, such as other vehicles, obstacles, or other objects, in the environment surrounding the vehicle. However, the performance of the vehicle's radar sensor may be degraded due to interference from other radar signals (e.g., from other vehicles and / or roadside units, among other examples). For example, interfering radar signals may cause ghost targets to be detected by the vehicle's radar sensor, resulting in false detection of targets in the vehicle's environment. Furthermore, direct path interference with radar signals transmitted by the radar sensor may disrupt the radar signal's return path, thereby preventing the radar sensor from detecting targets. In some cases, a vehicle may attempt to avoid interference by performing standalone signal processing when transmitting and receiving radar signals. For example, the vehicle may select random radar signal parameters for transmitting radar signals. However, a vehicle's radar sensor may still experience interference from other radar signals, leading to degradation of radar signal performance, particularly when the number of vehicles attempting to simultaneously use active radar sensors in a given area exceeds a certain density (e.g., in urban environments and / or areas with frequent heavy traffic and / or congestion).

[0015]

[0018] Certain aspects described herein provide techniques and apparatus that enable collaborative selection of radar signal transmission parameters based at least in part on in-band and / or out-of-band communication from other radar devices. Certain aspects described herein enable a device to receive a communication indicating a radar signal pattern parameter set associated with another device. The device may select a radar signal pattern parameter set that differs from the radar signal pattern parameter set associated with the other device based at least in part on receiving the communication. The device transmits a radar signal using the selected radar signal pattern parameter set. In some aspects, a device may receive a communication indicating respective radar signal parameter sets associated with a plurality of other devices, and the device may select a radar signal parameter set based at least in part on the radar signal parameter set associated with the other devices. As a result, a device such as a vehicle or roadside unit may eliminate or reduce interference due to radar signals from other devices, and thus prevent or reduce degradation of radar sensor performance due to radar signal interference.

[0016]

[0019] 1 is a diagram illustrating an example environment 100 in which radar interference mitigation described herein, in accordance with various aspects of the present disclosure, may be implemented. As shown in FIG. 1, environment 100 may include one or more vehicles 110-1 through 110-N (individually referred to as “vehicles 110” and collectively referred to as “vehicles 110”) having corresponding onboard units (OBUs) 112-1 through 112-N (individually referred to as “OBUs 112” and collectively referred to as “OBUs 112”), one or more roadside units (RSUs) 120 (individually referred to as “RSUs 120” and collectively referred to as “RSUs 120”), and a network 130.

[0017]

[0020] The devices of environment 100 may interconnect and / or communicate via wired connections, wireless connections, or a combination of wired and wireless connections. Additionally, the devices of environment 100 may communicate according to one or more vehicle-to-everything (V2X) protocols. For example, V2X communications is an umbrella term that generally refers to technologies that may be used to communicate information between a vehicle equipped with appropriate communications capabilities and one or more other devices. For example, V2X communications may include vehicle-to-vehicle (V2V) communication technologies that enable vehicles to communicate with each other (e.g., to support safety systems with non-line-of-sight and latency-sensitive collision avoidance capabilities), vehicle-to-infrastructure (V2I) communication technologies that enable vehicles to communicate with infrastructure devices such as street lights and / or buildings, among other examples, vehicle-to-pedestrian (V2P) communication technologies that enable vehicles to communicate with smartphones and / or connected wearable devices, among other examples, and / or vehicle-to-network (V2N) communication technologies that enable vehicles to communicate with network devices (e.g., according to Cellular V2X (C-V2X) protocols using Long Term Evolution (LTE) and / or New Radio (NR) as enabling technologies).

[0018]

[0021] Vehicle 110 may include any vehicle that includes an onboard sensor suite, as described herein. For example, vehicle 110 may be a consumer vehicle, an industrial vehicle, or a commercial vehicle, among other examples. Vehicle 110 may be capable of traveling and / or providing transportation via public roads or may be capable of use in operations associated with a work site (e.g., a construction site), among other examples. Vehicle 110 may be controlled, at least in part, via OBU 112 and the onboard sensor suite. For example, in some aspects, vehicle 110 may use the onboard sensor suite to support one or more ADAS features (e.g., forward collision warning, automatic emergency braking, lane departure warning, lane keep assist, blind spot monitoring, and / or the like). Additionally, in some aspects, vehicle 110 may use the onboard sensor suite to enable autonomous driving features.

[0019]

[0022] OBU 112 may include one or more devices capable of receiving, generating, storing, processing, and / or providing information associated with radar interference mitigation, as described in further detail elsewhere herein. For example, in some aspects, OBU 112 may include a communications and / or computing device, such as an onboard computer, a control console, an operator station, or a similar type of device. In some aspects, OBU 112 may include one or more electronic control units (ECUs) for controlling onboard sensors and controlling the vehicle (e.g., steering, accelerating, and / or decelerating) based at least in part on information received from the onboard sensors. In some aspects, OBU 112 may include and / or be used in a radar interference mitigation system, as described herein. For example, OBU 112 may receive communications including radar signal pattern parameter sets associated with other vehicles 110 and / or RSUs 120, select a radar signal pattern parameter set, broadcast a communication indicating the selected radar signal parameter set, and / or control vehicles 110 to transmit radar signals using the selected radar signal parameter set. In some aspects, although each vehicle 110 in FIG. 1 is shown as having one corresponding OBU 112, one or more vehicles 110 in environment 100 may include multiple OBUs 112.

[0020]

[0023] The RSU 120 may include one or more computing resources allocated to receive, generate, process, and / or provide information associated with radar interference mitigation as described herein. The RSU 120 includes a computing device deployed along a roadway and configured to communicate wirelessly with the OBU 112 of the vehicle 110. In some aspects, the RSU 120 may include a cellular backhaul that enables communication with the OBU of the vehicle 110 and / or other devices in the network 130 (e.g., to support C-V2X communications). In some aspects, the RSU 120 may include a rugged, weatherproof housing suitable for outdoor installation in all weather conditions, and the RSU 120 may include one or more interfaces for connecting to power from a power grid (e.g., via an indirect connection, such as through a light pole or traffic signal controller, or via a direct hardwired connection to the power grid).

[0021]

[0024] In some aspects, the RSU 120 may include a radar sensor, and the RSU 120 may perform radar detection. For example, the RSU 120 may perform radar detection of a vehicle 110 within the vicinity of the RSU 120. In some aspects, the RSU 120 may broadcast a communication indicating a radar signal parameter set associated with the RSU 120. In some aspects, the RSU 120 may receive a communication indicating a radar signal parameter set associated with the vehicle 110 and select the radar signal parameter set associated with the RSU 120 based at least in part on the received communication.

[0022]

[0025] Network 130 includes one or more wired and / or wireless networks. For example, network 130 may include a cellular network (e.g., a fifth-generation (5G) network, a fourth-generation (4G) network, a long-term evolution (LTE) network, a third-generation (3G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., a public switched telephone network (PSTN)), a private network, an ad hoc network, an intranet, the Internet, an optical fiber-based network, and / or a combination of these or other types of networks. Network 130 enables communication between devices in environment 100.

[0023]

[0026] The number and arrangement of devices and networks shown in Figure 1 are provided as an example. In practice, there may be additional, fewer, different, or differently arranged devices and / or networks compared to those shown in Figure 1. Furthermore, two or more devices shown in Figure 1 may be implemented within a single device, or a single device shown in Figure 1 may be implemented as multiple distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) of environment 100 may perform one or more functions that are described as being performed by another set of devices of environment 100.

[0024]

[0027] 2 is a diagram illustrating example components of a device 200 according to various aspects of the present disclosure. The device 200 may correspond to the vehicle 110, the OBU 112, and / or the RSU 120. In some aspects, the vehicle 110, the OBU 112, and / or the RSU 120 may include one or more devices 200 and / or one or more components of the device 200. As shown in FIG. 2, the device 200 may include a bus 205, a processor 210, a memory 215, a storage component 220, an input component 225, an output component 230, a communication interface 235, and / or one or more sensors 240 (individually referred to as “sensors 240” and collectively referred to as “sensors 240”).

[0025]

[0028] Bus 205 includes components that enable communication between components of device 200. Processor 210 is implemented in hardware, firmware, or a combination of hardware and software. Processor 210 is a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), microprocessor, microcontroller, digital signal processor (DSP), field programmable gate array (FPGA), application specific integrated circuit (ASIC), or another type of processing component. In some aspects, processor 210 includes one or more processors that can be programmed to perform functions. Memory 215 includes random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory) that stores information and / or instructions used by processor 210.

[0026]

[0029] Storage component 220 stores information and / or software related to the operation and use of device 200. For example, storage component 220 may include a hard disk (e.g., a magnetic disk, optical disk, magneto-optical disk, and / or solid-state disk), a compact disk (CD), a digital versatile disk (DVD), a floppy disk, a cartridge, a magnetic tape, and / or another type of non-transitory computer-readable medium along with a corresponding drive.

[0027]

[0030] Input components 225 include components that enable device 200 to receive information, such as through user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, buttons, switches, and / or a microphone). Additionally or alternatively, input components 225 may include components for determining the location or position of device 200 (e.g., a global positioning system (GPS) component, a global navigation satellite system (GNSS) component, and / or the like), sensors for sensing information (e.g., an accelerometer, a gyroscope, an actuator, another type of position sensor or environmental sensor, etc., and / or the like). Output components 230 include components that provide output information from device 200 (e.g., a display, a speaker, a haptic feedback component, an audio or visual indicator, etc., and / or the like).

[0028]

[0031] Communications interface 235 includes transceiver-like components (e.g., a transceiver and / or a separate receiver and transmitter) that enable device 200 to communicate with other devices, such as via a wired connection, a wireless connection, or a combination of wired and wireless connections. Communications interface 235 may enable device 200 to receive information from and / or provide information to another device. For example, communications interface 235 may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency interface, a universal serial bus (USB) interface, a wireless local area interface (e.g., a Wi-Fi interface), a cellular network interface, and / or the like.

[0029]

[0032] Sensors 240 include one or more devices capable of sensing one or more characteristics of device 200 or the environment surrounding device 200. In some aspects, sensors 240 may include a radar sensor and one or more other sensor devices. For example, sensors 240 may include a radar sensor and one or more of a camera, a LIDAR sensor, a sonar sensor, an inertial measurement unit, and / or the like. Additionally or alternatively, sensors 240 may include a magnetometer (e.g., a Hall effect sensor, an anisotropic magnetoresistive (AMR) sensor, or a giant magnetoresistive (GMR) sensor), a location sensor (e.g., a global positioning system (GPS) receiver and / or a local positioning system (LPS) device (e.g., using triangulation, multilateration), a gyroscope (e.g., a microelectromechanical system (MEMS) gyroscope, or similar type device), an accelerometer, a velocity sensor, a motion sensor, an infrared sensor, a temperature sensor, and / or a pressure sensor, among other examples.

[0030]

[0033] Thus, sensors 240 may include any suitable sensor or combination of sensors that may be configured within a sensor suite to perform one or more actions, generate sensor data that enables one or more actions to be performed, and / or the like. For example, sensors 240 may be configured within a sensor suite to detect the presence of one or more objects within device 200's environment, detect proximity to one or more objects within device 200's environment, determine the location of device 200, determine a velocity associated with device 200, determine the location and / or velocity of one or more objects within device 200's environment, and / or the like. In some aspects, sensor data generated by sensors 240 may be communicated to another device (e.g., via communications interface 235) to enable the sensor data to be used by the other device to perform one or more actions. Furthermore, in some aspects, device 200 may select radar signal pattern parameters for a radar signal transmitted by a radar sensor based at least in part on a communication indicating a radar signal pattern parameter set associated with the other device.

[0031]

[0034] Device 200 may perform one or more processes described herein. Device 200 may perform these processes based on processor 210 executing software instructions stored by a non-transitory computer-readable medium, such as memory 215 and / or storage component 220. A computer-readable medium is defined herein as a non-transitory memory device. A memory device includes memory space within a single physical storage device or memory space spanning multiple physical storage devices.

[0032]

[0035] Software instructions may be loaded into memory 215 and / or storage component 220 from another computer-readable medium or from another device via communications interface 235. When executed, the software instructions stored in memory 215 and / or storage component 220 may cause processor 210 to perform one or more processes described herein. Additionally, or alternatively, hardwired circuitry may be used in place of or in combination with software instructions to perform one or more processes described herein. Thus, the aspects described herein are not limited to any specific combination of hardware circuitry and software.

[0033]

[0036] In some aspects, device 200 includes means for performing one or more processes described herein and / or means for performing one or more operations of the processes described herein. For example, device 200 may include means for receiving a communication indicating a first radar signal pattern parameter set associated with another device, means for selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set, and / or means for transmitting a radar signal using the second radar signal pattern parameter set. In some aspects, such means may include one or more components of device 200 described in connection with FIG. 2, such as bus 205, processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, and / or sensor 240.

[0034]

[0037] The number and arrangement of components shown in Figure 2 are provided as an example. In practice, device 200 may include additional, fewer, different, or differently arranged components relative to those shown in Figure 2. Additionally or alternatively, a set of components (e.g., one or more components) of device 200 may perform one or more functions that are described as being performed by another set of components of device 200.

[0035]

[0038] 3 is a diagram illustrating an example 300 associated with radar interference mitigation in accordance with various aspects of the present disclosure. As shown in FIG. 3, example 300 includes communication between a first vehicle (denoted as “V1”), a second vehicle (denoted as “V2”), and a third vehicle (denoted as “V3”). In some aspects, the first vehicle, the second vehicle, and the third vehicle may correspond to vehicle 110 shown in FIG. 1. Accordingly, the first vehicle, the second vehicle, and the third vehicle may each include an OBU (corresponding to OBU 112).

[0036]

[0039] In some aspects, vehicles may communicate with each other and / or with one or more RSUs via V2X communication, such as C-V2X communication. For example, vehicles may be enabled to communicate with each other using V2X communication when the vehicles are within a threshold distance that enables communication on a V2X interface or channel. In some aspects, vehicles may communicate with each other and / or with one or more RSUs using in-band communication within a frequency band associated with the vehicles' radar sensors (e.g., using an ALOHA protocol or a carrier sense multiple access (CSMA) protocol). As described herein, when referring to vehicles performing an action (e.g., receiving information, broadcasting information, selecting radar signal pattern parameters, and / or transmitting radar signals), it should be understood that an OBU of the vehicle may be performing the action and / or controlling the vehicle's radar sensor to perform the action.

[0037]

[0040] 3, the second vehicle and the third vehicle may broadcast a communication including radar signal pattern parameters, as indicated by reference numeral 310. In some aspects, the second vehicle and the third vehicle may each select a respective radar signal pattern parameter set associated with that vehicle and broadcast a respective communication indicating the respective radar signal pattern parameter set associated with that vehicle. A radar signal pattern parameter set for a vehicle may be a set of parameters related to a radar signal pattern transmitted by that vehicle's radar sensor.

[0038]

[0041] In some aspects, the vehicle's radar sensor may transmit a frequency-modulated continuous wave (FMCW) radar signal. In this case, the radar signal may be transmitted using a sawtooth radar signal pattern, and the radar signal pattern parameter set may include parameters related to the sawtooth radar signal pattern. For example, the radar signal pattern parameter set may include one or more of a frequency, a bandwidth, a slope-up duration, a slope-down duration, and / or a slope-off duration for the transmitted radar signal pattern. In some aspects, other radar waveforms, such as a phase-modulated continuous waveform (PMCW), may be used, and the radar signal parameter set may include parameters related to the type of radar waveform used. A radar signal pattern parameter may be referred to herein as a "radar parameter," and a radar signal pattern parameter set may be referred to herein as a "radar parameter set."

[0039]

[0042] The second vehicle and the third vehicle may each randomly select a respective radar parameter set associated with the vehicle. In some aspects, a vehicle (e.g., the second vehicle or the third vehicle) may randomly select each radar parameter (e.g., frequency, bandwidth, slope-up duration, slope-down duration, and / or slope-off duration) within a respective range of values ​​associated with each radar parameter. In some aspects, a vehicle may randomly select a radar parameter set from a plurality of radar parameter sets. In this case, each vehicle may store information identifying the plurality of radar parameter sets. For example, each vehicle may store a lookup table including, for each of the plurality of radar parameter sets, information identifying values ​​of the radar parameters for the radar parameter set and an index associated with the radar parameter set. The vehicle may select the radar parameter set associated with the vehicle by randomly selecting an index value and selecting the radar parameter set associated with the index value. In some aspects, the second vehicle and / or the third vehicle may select a radar parameter set based at least in part on a communication received from another vehicle or an RSU indicating a radar parameter set associated with the other vehicle or RSU, as described elsewhere herein in connection with the first vehicle.

[0040]

[0043] The second vehicle and the third vehicle may each broadcast a respective communication indicating the radar parameter set associated with that vehicle. In some aspects, the second vehicle and the third vehicle may each periodically broadcast a respective communication indicating the radar parameter set associated with that vehicle. For example, once a vehicle selects a radar parameter set and / or begins transmitting radar signals using the radar parameter set, the vehicle may periodically broadcast a communication indicating the radar parameter set at certain time intervals. Thus, when another vehicle comes within range of the communication (e.g., due to vehicle movement), the other vehicle may receive the broadcast communication and detect the radar parameters indicated in the communication.

[0041]

[0044] In some aspects, a vehicle (e.g., a second vehicle or a third vehicle) may transmit out-of-band communication including an indication of the radar parameter set. Out-of-band communication is communication transmitted outside a frequency band (e.g., the 77 GHz frequency band) used by the vehicle to transmit radar signals. For example, the out-of-band communication may be V2X communication, such as 5.9 GHz V2X communication or V2X communication on another channel. In some aspects, the out-of-band communication may be C-V2X PC5 communication transmitted from the vehicle to other devices (e.g., vehicles and / or RSUs) within range of the vehicle over a PC5 interface. For example, the vehicle may transmit a newly defined message over the PC5 interface that includes an indication of the radar parameter set, or the vehicle may transmit an existing basic safety message over the PC5 interface with an added extension that indicates the radar parameter set. For example, an existing basic safety message may be the Basic Safety Message (BSM) defined in the SAE dedicated short range communication (DSRC) standard (e.g., SAE J2735) or the Cooperative Awareness Message (CAM) defined in the ETSI standard.

[0042]

[0045] In some aspects, a vehicle (e.g., a second vehicle or a third vehicle) may transmit an indication of a radar parameter set in an in-band communication within a frequency band associated with transmitting radar signals (e.g., the 77 GHz frequency band). For example, the vehicle may transmit the in-band communication using a communication protocol (e.g., the ALHOA protocol or the CSMA protocol) capable of transmitting communications within the radar band. In some aspects, to avoid potential interference between the radar signals and the in-band communication, the spectrum used to transmit the in-band communication may be a dedicated portion of the radar band (e.g., a dedicated subcarrier within the radar band).

[0043]

[0046] In some aspects, the indication of a radar parameter set included in a communication (e.g., an out-of-band or in-band communication) may include parameter values ​​for the radar parameters in the radar parameter set. For example, the indication may include parameter values ​​for frequency, bandwidth, slope-up duration, slope-down duration, and / or slope-off duration parameters associated with an FMCW radar waveform. In some aspects, the indication of a radar parameter set included in a communication (e.g., an out-of-band or in-band communication) may include an index value associated with the parameter set. As described above, each radar parameter set of a plurality of radar parameter sets may be associated with a respective index value. In this case, the communication broadcast by the vehicle may indicate the radar parameter set associated with the vehicle using the index value associated with the radar parameter set. This may reduce signaling overhead and improve reliability compared to a communication indicating parameter values ​​for radar parameters in a radar parameter set.

[0044]

[0047] A first vehicle may receive communications broadcast by a second vehicle and a third vehicle. For example, the first vehicle may receive a periodically broadcast communication indicating a radar parameter set associated with the second vehicle based at least in part on moving within a broadcast range of the second vehicle, and the first vehicle may receive a periodically broadcast communication indicating a radar parameter set associated with the third vehicle based at least in part on moving within a broadcast range of the third vehicle.

[0045]

[0048] In some aspects, the first vehicle may select initial radar parameters before receiving communications from the second and third vehicles. For example, the first vehicle may select initial radar parameters and transmit radar signals for radar detection before moving within the vicinity of the second or third vehicle. In this case, the first vehicle may periodically transmit communications (e.g., out-of-band or in-band communications) indicating the initial radar parameters associated with the first vehicle, as described above in connection with the second and third vehicles.

[0046]

[0049] As further illustrated in FIG. 3 by reference numeral 320, the first vehicle may select radar parameters based at least in part on communications received from the second and third vehicles. The first vehicle may determine radar parameter sets associated with the second and third vehicles from the communications and select radar parameters associated with the first vehicle based at least in part on the radar parameter sets associated with the second and third vehicles. For example, the first vehicle may select a radar parameter set different from the radar parameter sets associated with the second and third vehicles to avoid interference from radar signals transmitted by the second and third vehicles. For example, the selected radar parameter set for the first vehicle may include different values ​​for one or more of the radar parameters compared to the radar parameter sets of the second and third vehicles.

[0047]

[0050] In some aspects, the first vehicle may randomly select a radar parameter set that is different from the parameter sets associated with the second and third vehicles. For example, the first vehicle may randomly select values ​​for radar parameters in a radar parameter set that are different from the values ​​in the radar parameter sets associated with the second and third vehicles. As described above, multiple radar parameter sets may be associated with respective index values. In this case, the first vehicle may select a radar parameter set by randomly selecting an index value other than the index values ​​indicating the respective parameter sets in the communications from the second and third vehicles.

[0048]

[0051] In some aspects, the first vehicle may utilize radar parameters in a radar parameter set associated with the second and third vehicles to determine values ​​for radar parameters associated with the first vehicle. In this case, the first vehicle may select parameter values ​​that eliminate or reduce radar interference due to radar signals transmitted by the second and third vehicles for radar detection performed using radar signals associated with the selected parameters. For example, the first vehicle may execute an optimization algorithm to select parameter values ​​that are predicted to eliminate, or reduce if interference cannot be completely eliminated, interference due to radar signals transmitted by the second and third vehicles.

[0049]

[0052] In some aspects, the first vehicle may select an initial radar parameter set before receiving communications from the second and third vehicles. In this case, the first vehicle may determine whether a conflict exists between the initial radar parameter set and at least one of the radar parameter set associated with the second vehicle or the radar parameter set associated with the third vehicle. For example, the first vehicle may determine that a conflict exists if a radar parameter set associated with another vehicle (e.g., the second vehicle or the third vehicle) is the same as the initial radar parameter set associated with the first vehicle. Based at least in part on determining that a conflict exists, the first vehicle may select a new radar parameter set that is different from the radar parameter set associated with the other vehicle. Based at least in part on determining that a conflict does not exist, the first vehicle may maintain the initial radar parameter set. In some aspects, as described in more detail below, the first vehicle may determine whether to select a new radar parameter set or maintain the initial radar parameter set when a conflict exists based at least in part on the respective priority level associated with the vehicle.

[0050]

[0053] As further indicated by reference numeral 330 in FIG. 3 , the first vehicle may transmit a radar signal using a selected radar parameter set associated with the first vehicle. Values ​​of radar parameters in the selected radar parameter set may define a radar signal pattern of the radar signal transmitted by the first vehicle. For example, the first vehicle may transmit an FMCW radar signal having a radar signal pattern determined at least in part based on values ​​for frequency, bandwidth, slope-up duration, slope-down duration, and / or slope-off duration parameters included in the selected radar parameter set. The first vehicle may transmit the radar signal to perform radar detection, e.g., to detect other vehicles and / or objects in the first vehicle's environment.

[0051]

[0054] In some aspects, the first vehicle may broadcast a communication indicating a selected radar parameter set associated with the first vehicle based at least in part on selecting the radar parameter set. For example, the first vehicle may broadcast an out-of-band communication (e.g., a V2X communication) indicating the selected radar parameter set, or an in-band communication indicating the selected radar parameter set, as described above in connection with the second and third vehicles. In some aspects, the first vehicle may broadcast the communication periodically at a time interval.

[0052]

[0055] As described above in connection with FIG. 3 , the first vehicle may receive a communication indicating a radar signal pattern parameter set associated with another vehicle. The first vehicle may select a radar signal pattern parameter set that differs from the radar signal pattern parameter set associated with the other vehicle based at least in part on receiving the communication. The first vehicle may transmit a radar signal using the selected radar signal pattern parameter set. As a result, the first vehicle may eliminate or reduce interference due to radar signals from the other vehicle and, therefore, prevent or reduce degradation of radar sensor performance due to radar signal interference.

[0053]

[0056] As noted above, Figure 3 is provided as an example. Other examples may differ from those described with respect to Figure 3.

[0054]

[0057] 4 is a diagram illustrating an example 400 associated with radar interference mitigation in accordance with various aspects of the present disclosure. As shown in FIG. 4, the example 400 includes communication between a first radar device and a second radar device. The first radar device may correspond to a vehicle (e.g., the vehicle 110 in FIG. 1 ), an OBU (e.g., the OBU 112 in FIG. 1 ), and / or an RSU (e.g., the RSU 120 in FIG. 1 ). The second radar device may correspond to a vehicle (e.g., the vehicle 110 in FIG. 1 ), an OBU (e.g., the OBU 112 in FIG. 1 ), and / or an RSU (e.g., the RSU 120 in FIG. 1 ).

[0055]

[0058] In some aspects, the first radar device and the second radar device may communicate with each other via V2X communication, such as C-V2X communication. In some aspects, the first radar device and the second radar device may communicate with each other using in-band communication within the radar frequency band (e.g., using an ALOHA protocol or a carrier sense multiple access (CSMA) protocol).

[0056]

[0059] As indicated by reference numeral 405 in FIG. 4 , the first radar device may select an initial radar parameter set. For example, the first radar device may randomly select an initial radar parameter set including one or more initial radar parameters (e.g., frequency, bandwidth, slope-up duration, slope-down duration, and / or slope-off duration) associated with a radar signal pattern of a radar signal transmitted by the first radar device. In some aspects, the first radar device may randomly select a value for each initial radar parameter within a respective range associated with that radar parameter. In some aspects, the first radar device may randomly select an initial radar parameter set from a plurality of radar parameter sets. For example, the first radar device may store, for each of the plurality of radar parameter sets, information identifying the value of the radar parameter for the radar parameter set and an index associated with the radar parameter set. The first radar device may randomly select an index value and select the radar parameter set associated with the selected index value as the initial radar parameter set.

[0057]

[0060] 4, as further indicated by reference numeral 410, a first radar device may broadcast a communication indicating an initial radar parameter set associated with the first radar device, and a second radar device may broadcast a communication indicating a radar parameter set associated with the second radar device. The first radar device may receive the communication broadcasted by the second radar device, and the second radar device may receive the communication broadcasted by the first radar device. In some aspects, the first radar device and / or the second radar device may periodically broadcast their respective communications.

[0058]

[0061] In some aspects, at least one of the first radar device or the second radar device may transmit an out-of-band communication including an indication of a radar parameter set associated with the device. For example, the out-of-band communication may be a V2X communication, such as a C-V2X PC5 communication transmitted over a PC5 interface. In some aspects, the radar device (e.g., the first radar device or the second radar device) may transmit a newly defined message associated with indicating the radar parameter set over the PC5 interface. In some aspects, if the radar device (e.g., the first radar device or the second radar device) transmitting the communication is a vehicle (or an OBU), the radar device may transmit an existing basic safety message (e.g., a BSM or a CAM) with an added extension indicating the radar parameter set over the PC5 interface. In some aspects, if the radar device (e.g., the first radar device or the second radar device) transmitting the communication is an RSU, the radar device may transmit an RSM with an added extension indicating the radar parameter set over the PC5 interface.

[0059]

[0062] In some aspects, at least one of the first radar device or the second radar device may transmit an indication of the radar parameter set in an in-band communication within a radar frequency band (e.g., the 77 GHz frequency band). For example, the radar device (e.g., the first radar device or the second radar device) may transmit the in-band communication using a communication protocol (e.g., the ALHOA protocol or the CSMA protocol) capable of transmitting communications within the radar band. In some aspects, to avoid potential interference between the radar signal and the in-band communication, the spectrum used to transmit the in-band communication may be a dedicated portion of the radar band (e.g., a dedicated subcarrier within the radar band).

[0060]

[0063] In some aspects, an indication of a radar parameter set included in a communication (e.g., an out-of-band or in-band communication) may include parameter values ​​for radar parameters in the radar parameter set. In some aspects, an indication of a radar parameter set included in a communication (e.g., an out-of-band or in-band communication) may include an index value associated with the parameter set.

[0061]

[0064] As further indicated by reference numeral 415 in FIG. 4 , the first radar device may detect whether a conflict exists between the initial radar parameter set and a radar parameter set associated with the second radar device. In some aspects, the first radar device may detect a conflict between the initial radar parameter set and a radar parameter set associated with the second radar device based at least in part on a determination that the initial radar parameter set is the same as the radar parameter set associated with the second radar device. In some aspects, the first radar device may predict interference for a radar signal transmitted using the initial radar parameter set based at least in part on the radar parameter set associated with the second radar device. In this case, the first radar device may detect a conflict between the initial radar parameter set and a radar parameter set associated with the second radar device based at least in part on a determination that the predicted interference is greater than a threshold.

[0062]

[0065] 4, the first radar device may select a new radar parameter set based at least in part on detecting a conflict between the initial radar parameter set and a radar parameter set associated with the second radar device, as further indicated by reference numeral 420. For example, the first radar device may select a new radar parameter set that differs from the radar parameter set associated with the second radar device to avoid interference due to radar signals transmitted by the second radar device.

[0063]

[0066] In some aspects, the first vehicle may randomly select a new radar parameter set that differs from the parameter set associated with the second radar device. For example, the first vehicle may randomly select values ​​for radar parameters in the new radar parameter set that differ from the values ​​in the radar parameter set associated with the second radar device. As described above, multiple radar parameter sets may be associated with respective index values. In this case, the first radar device may select the new radar parameter set by randomly selecting an index value other than the index value corresponding to the radar parameter set associated with the second radar device.

[0064]

[0067] In some aspects, the first radar device may utilize radar parameters in a radar parameter set associated with a second radar device to determine values ​​for radar parameters in a new radar parameter set associated with the first vehicle. In this case, the first radar device may select parameter values ​​that eliminate or reduce radar interference due to radar signals transmitted by the second radar device upon radar detection performed by the first radar device using radar signals associated with the selected parameters. For example, the first radar device may execute an optimization algorithm to select parameter values ​​that are predicted to eliminate or reduce interference due to radar signals transmitted by the second radar device based at least in part on parameter values ​​in the radar parameter set associated with the second radar device.

[0065]

[0068] In some aspects, the first radar device may determine that no conflict exists between the initial radar parameter set and the radar parameter set associated with the second radar device. For example, the first radar device may determine that no conflict exists based at least in part on determining that the initial radar parameter set is not the same as the radar parameter set associated with the second radar device. In this case, the first radar device may maintain the initial radar signal parameter set based at least in part on determining that no conflict exists. For example, in this case, the first radar device may transmit a radar signal using the initial radar parameter set to perform radar detection.

[0066]

[0069] In some aspects, the first radar device may determine whether to select a new radar parameter set based at least in part on detecting a conflict between the initial radar parameter set and a radar parameter set associated with the second radar device and based at least in part on comparing a priority level associated with the first radar device with a priority level associated with the second radar device. In this case, different radar devices and / or different types of radar devices (e.g., vehicles or RSUs) may be associated with different priority levels. A communication broadcast by a radar device (e.g., the first radar device and / or the second radar device) indicating a radar parameter set associated with that radar device may also indicate a priority level associated with that radar device. If the first radar device detects a conflict between the initial radar parameter set and a radar parameter set associated with the second radar device, the first radar device may compare the priority level associated with the first radar device with the priority level associated with the second radar device. The first radar device may select a new radar parameter set based at least in part on a determination that the priority level associated with the second radar device is higher than or the same as the priority level associated with the first radar device. The first radar device may maintain an initial radar parameter set based at least in part on a determination that the priority level associated with the second radar device is lower than the priority level associated with the first radar device. If the priority level associated with the second radar device is lower than the priority level associated with the first radar device, the second radar device may select a new radar parameter set.

[0067]

[0070] As further indicated by reference numeral 425 in FIG. 4 , the first radar device may transmit a radar signal using a new radar parameter set associated with the first radar device. Values ​​of radar parameters in the new radar parameter set may define a radar signal pattern of the radar signal transmitted by the first radar device. For example, the first radar device may transmit an FMCW radar signal having a radar signal pattern determined at least in part based on values ​​for frequency, bandwidth, slope-up duration, slope-down duration, and / or slope-off duration parameters included in the new radar parameter set. The first radar device may transmit the radar signal to perform radar detection, e.g., to detect vehicles and / or objects in the environment of the first radar device.

[0068]

[0071] 4, the first radar device may broadcast a communication indicating the new radar parameter set. For example, the first radar device may broadcast an out-of-band communication (e.g., a V2X communication) indicating the new radar parameter set or an in-band communication indicating the new radar parameter set, as described above. In some aspects, the first radar device may periodically broadcast the communication indicating the new radar parameter set at a time interval.

[0069]

[0072] As described above in connection with FIG. 4 , a first radar device, such as a vehicle, an OBU, or an RSU, may receive a communication indicating a radar signal pattern parameter set associated with a second radar device. The first radar device may detect whether a conflict exists between an initial radar signal pattern parameter set and a radar signal pattern parameter set associated with the second radar device. The first radar device may select a new radar signal pattern parameter set based at least in part on detecting a conflict between the initial radar signal pattern parameter set and the radar signal pattern parameter set associated with the second radar device. The radar device may transmit a radar signal using the new radar signal pattern parameter set and broadcast a communication indicating the new radar signal pattern parameter set. As a result, the vehicle, an OBU, or an RSU may eliminate or reduce interference caused by radar signals from other devices and, therefore, prevent or reduce degradation of radar sensor performance caused by radar signal interference.

[0070]

[0073] As noted above, Figure 4 is provided as an example. Other examples may differ from those described with respect to Figure 4.

[0071]

[0074] 5 is a diagram illustrating an example 500 associated with radar interference mitigation in accordance with various aspects of the present disclosure. As shown in FIG. 5, example 500 includes an example message for broadcasting an indication of a radar parameter set associated with a device, such as a vehicle, an OBU, or an RSU.

[0072]

[0075] 5, the BSM may be extended to include an extension (“RadarParametersExtensions”) that indicates radar parameters associated with the device, as indicated by reference numeral 510. In some aspects, the BSM including the extension that indicates radar parameters may be used by the vehicle / OBU to broadcast out-of-band C-V2X communications that indicate a radar parameter set associated with the vehicle / OBU.

[0073]

[0076] As indicated by reference numeral 520, the RSM may be extended to include an extension (“RadarParametersExtensions”) that indicates radar parameters associated with the device. In some aspects, the RSM including the extension that indicates radar parameters may be used by the RSU to broadcast out-of-band C-V2X communications that indicate a radar parameter set associated with the RSU.

[0074]

[0077] As indicated by reference numeral 530, in some aspects a C-V2X message (“ReadParametersMessage”) may be defined to broadcast an indication of a radar parameter set associated with a device. The C-V2X message may include an indication of a radar waveform type for the radar parameter set and an extension (“RadarParametersExtensions”) that indicates radar parameters within the radar parameter set. In some aspects, the C-V2X message may be used by a vehicle / OBU or RSU to broadcast out-of-band C-V2X communication indicating a radar parameter set associated with the vehicle / OBU or RSU.

[0075]

[0078] As indicated by reference numeral 540, an extension ("RadarParametersExtensions") may include, for a waveform type, radar parameters associated with that waveform type. For example, as shown in FIG. 5, the extension may indicate values ​​for a frequency parameter, a bandwidth parameter, a slope-up duration parameter, a slope-down duration parameter, and a slope-off duration parameter.

[0076]

[0079] As noted above, Figure 5 is provided as an example. Other examples may differ from those described with respect to Figure 5.

[0077]

[0080] 6 is a diagram illustrating an example process 600 performed, for example, by a device, in accordance with various aspects of the present disclosure. The example process 600 is an example in which a device (e.g., a vehicle 110, an OBU 112, or an RSU 120) performs operations associated with radar interference mitigation.

[0078]

[0081] 6, process 600 may include receiving a communication indicating a first radar signal pattern parameter set associated with another device (block 610). For example, a device (e.g., using processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, and / or sensor 240) may receive a communication indicating a first radar signal pattern parameter set associated with another device, as described above.

[0079]

[0082] 6, in some aspects, process 600 may include selecting a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set based at least in part on receiving a communication indicative of the first radar signal pattern parameter set (block 620). For example, a device (e.g., using processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, and / or sensor 240) may select a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set based at least in part on receiving a communication indicative of the first radar signal pattern parameter set, as described above.

[0080]

[0083] 6, in some aspects, process 600 may include transmitting a radar signal using a second radar signal pattern parameter set (block 630). For example, a device (e.g., using processor 210, memory 215, storage component 220, input component 225, output component 230, communication interface 235, and / or sensor 240) may transmit a radar signal using the second radar signal pattern parameter set, as described above.

[0081]

[0084] Process 600 may include additional aspects, such as any single aspect or any combination of aspects described below and / or in conjunction with one or more other processes described elsewhere herein.

[0082]

[0085] In a first aspect, the communication is outside of a frequency band associated with transmitting radar signals.

[0083]

[0086] In a second aspect, alone or in combination with the first aspect, the communication is cellular vehicle to everything (C-V2X) PC5 communication.

[0084]

[0087] In a third aspect, alone or in combination with one or more of the first and second aspects, the communication includes a basic safety message including an indication of the first radar signal parameter set or a cooperative awareness message including an indication of the first radar signal parameter set.

[0085]

[0088] In a fourth aspect, alone or in combination with one or more of the first and second aspects, the communication includes a roadside safety message including an indication of the first radar signal pattern parameter set.

[0086]

[0089] In a fifth aspect, the communication is within a frequency band associated with transmitting radar signals.

[0087]

[0090] In a sixth aspect, alone or in combination with the fifth aspect, the communications are received within a dedicated portion of a frequency band associated with transmitting radar signals.

[0088]

[0091] In a seventh aspect, alone or in combination with one or more of the first through sixth aspects, the first radar signal pattern parameter set is one of a plurality of radar signal pattern parameter sets associated with a corresponding index (), and the communication includes an indication of the corresponding index associated with the first radar signal pattern parameter set.

[0089]

[0092] In an eighth aspect, alone or in combination with one or more of the first to seventh aspects, selecting a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set comprises randomly selecting a radar signal pattern parameter set that is different from the first radar signal pattern parameter set.

[0090]

[0093] In a ninth aspect, alone or in combination with one or more of the first through eighth aspects, selecting a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set comprises selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving a communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set; and selecting the second radar signal pattern parameter set that is different from the first radar signal pattern parameter set, based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set.

[0091]

[0094] In a tenth aspect, alone or in combination with one or more of the first through ninth aspects, the communication includes a priority associated with another device, and selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set comprises selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set and based at least in part on comparing the priority associated with the device with a priority associated with the other device.

[0092]

[0095] In an eleventh aspect, alone or in combination with one or more of the first through tenth aspects, process 600 includes selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving a communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set; and, based at least in part on determining that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set, maintaining the initial radar signal pattern parameter set as a second radar signal pattern parameter set.

[0093]

[0096] In a twelfth aspect, alone or in combination with one or more of the first through eleventh aspects, the process 600 includes broadcasting a communication indicating a second radar signal pattern parameter set.

[0094]

[0097] In a thirteenth aspect, alone or in combination with the twelfth aspect, broadcasting a communication indicative of the second radar signal pattern parameter set comprises periodically broadcasting a communication indicative of the second radar signal pattern parameter set.

[0095]

[0098] In a fourteenth aspect, alone or in combination with one or more of the twelfth and thirteenth aspects, broadcasting a communication indicative of the second radar signal pattern parameter set comprises broadcasting the communication indicative of the second radar signal pattern parameter set in at least one of vehicle-to-everything (V2X) communication outside a frequency band associated with transmitting the radar signal or communication within a frequency band associated with transmitting the radar signal.

[0096]

[0099] In a fifteenth aspect, alone or in combination with the first to fourteenth aspects, receiving a communication indicating a first radar signal pattern parameter set associated with another device comprises receiving a plurality of communications indicating radar signal pattern parameter sets associated with a plurality of other devices, and selecting a second radar signal pattern parameter set comprises selecting, based at least in part on the radar signal parameter sets associated with the plurality of other devices, the second radar signal pattern parameter set to reduce interference with the radar signal from radar signals transmitted by the plurality of other devices.

[0097]

[0100] 6 illustrates example blocks of process 600, in some aspects process 600 may include additional blocks, fewer blocks, different blocks, or blocks arranged differently compared to those depicted in FIG 6. Additionally or alternatively, two or more blocks of process 600 may be performed in parallel.

[0098]

[0101] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Modifications and variations may be made in light of the above disclosure or may be acquired from practice of the embodiments.

[0099]

[0102] As used herein, the term "component" is intended to be broadly interpreted as hardware, firmware, and / or a combination of hardware and software. As used herein, a processor is implemented in hardware, firmware, and / or a combination of hardware and software. It is apparent that the systems and / or methods described herein may be implemented in different forms of hardware, firmware, and / or a combination of hardware and software. The actual specialized control hardware or software code used to implement these systems and / or methods is not a limiting aspect. Thus, the operation and behavior of the systems and / or methods are described herein without reference to specific software code, and it is understood that software and hardware can be designed to implement the systems and / or methods based at least in part on the description herein.

[0100]

[0103] As used herein, satisfying a threshold may refer to a value being greater than the threshold, greater than or equal to the threshold, less than the threshold, less than or equal to the threshold, equal to the threshold, or not equal to the threshold, or the like, depending on the context.

[0101]

[0104] Although particular combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of various aspects. Indeed, many of these features may be combined in ways not specifically recited in the claims and / or disclosed in the specification. Although each dependent claim listed below may depend directly on only one claim, the disclosure of various aspects includes each dependent claim in combination with every other claim in the claim set. As used herein, phrases referring to "at least one of" a list of items refer to any combination of those items, including single elements. By way of example, "at least one of a, b, or c" is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination of multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc, or any other order of a, b, and c).

[0102]

[0105] Unless explicitly described as such, no element, act, or instruction used herein should be construed as critical or required. Also, as used herein, the articles "a" and "an" are intended to include one or more items and may be used interchangeably with "one or more." Furthermore, as used herein, the article "the" is intended to include one or more items referenced in connection with the article "the" and may be used interchangeably with "one or more." Furthermore, as used herein, the terms "set" and "group" are intended to include one or more items (e.g., related items, unrelated items, or a combination of related and unrelated items) and may be used interchangeably with "one or more." When only one item is intended, the phrase "only one" or similar language is used. Also, as used herein, "has," "have," "having," or similar terms are intended to be open-ended terms. Additionally, the phrase "based on" is intended to mean "based at least in part on," unless expressly stated otherwise. Also, as used herein, the term "or" when used in a series is intended to be inclusive and can be used interchangeably with "and / or" (e.g., when used in combination with "either" or "only one of"), unless expressly stated otherwise.

Claims

1. 1. A method of wireless communication performed by a device, comprising: receiving a communication indicating a first radar signal pattern parameter set associated with another device; selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set; transmitting a radar signal using the second set of radar signal pattern parameters.

2. The method of claim 1 , wherein the communication is outside a frequency band associated with transmitting the radar signal.

3. 10. The method of claim 1, wherein the communication is a cellular vehicle-to-everything (C-V2X) PC5 communication.

4. The method of claim 1 , wherein the communication comprises a basic safety message including an indication of the first radar signal parameter set or a cooperation awareness message including the indication of the first radar signal parameter set.

5. The method of claim 1 , wherein the communication comprises a roadside safety message including an indication of the first radar signal pattern parameter set.

6. The method of claim 1 , wherein the communication is within a frequency band associated with transmitting the radar signal.

7. The method of claim 6 , wherein the communication is received within a dedicated portion of the frequency band associated with transmitting the radar signal.

8. 2. The method of claim 1 , wherein the first radar signal pattern parameter set is one of a plurality of radar signal pattern parameter sets associated with a corresponding index, and the communication includes an indication of the corresponding index associated with the first radar signal pattern parameter set.

9. 2. The method of claim 1 , wherein selecting the second radar signal pattern parameter set that is different from the first radar signal pattern parameter set comprises randomly selecting a radar signal pattern parameter set that is different from the first radar signal pattern parameter set.

10. Selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set includes: selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving the communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set; and selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set.

11. the communication includes a priority associated with the other device; Selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set includes: selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set and based at least in part on comparing a priority associated with the device with the priority associated with the other device. The method of claim 10, comprising:

12. Selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set includes: selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving the communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set; and maintaining the initial radar signal pattern parameter set as the second radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set.

13. The method of claim 1 , further comprising broadcasting a communication indicating the second radar signal pattern parameter set.

14. broadcasting the communication indicative of the second radar signal pattern parameter set includes: The method of claim 13 , comprising periodically broadcasting the communication indicating the second radar signal pattern parameter set.

15. broadcasting the communication indicative of the second radar signal pattern parameter set includes:

14. The method of claim 13, comprising broadcasting the communication indicative of the second radar signal pattern parameter set in at least one of vehicle-to-everything (V2X) communication outside a frequency band associated with transmitting the radar signal or communication within the frequency band associated with transmitting the radar signal.

16. receiving a communication indicating a first radar signal pattern parameter set associated with another device comprises receiving a plurality of communications indicating radar signal pattern parameter sets associated with a plurality of other devices; Selecting the second radar signal pattern parameter set includes: selecting the second radar signal pattern parameter set to reduce interference with the radar signal from radar signals transmitted by the plurality of other devices based at least in part on the radar signal parameter sets associated with the plurality of other devices. The method of claim 1 , comprising:

17. 1. A device for wireless communication, comprising: Memory and one or more processors operably coupled to the memory; The memory and the one or more processors receiving a communication indicating a first radar signal pattern parameter set associated with another device; selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set; transmitting a radar signal using the second radar signal pattern parameter set; A device configured to:

18. 20. The device of claim 17, wherein the communication is outside a frequency band associated with transmitting the radar signal.

19. 20. The device of claim 17, wherein the communication is cellular vehicle-to-everything (C-V2X) PC5 communication.

20. 18. The device of claim 17, wherein the communication comprises a basic safety message including an indication of the first radar signal parameter set, a cooperative awareness message including the indication of the first radar signal parameter set, or a roadside safety message including the indication of the first radar signal pattern parameter set.

21. 20. The device of claim 17, wherein the communication is in a frequency band associated with transmitting the radar signal.

22. 20. The device of claim 17, wherein the first radar signal pattern parameter set is one of a plurality of radar signal pattern parameter sets associated with a corresponding index, and the communication includes an indication of the corresponding index associated with the first radar signal pattern parameter set.

23. the memory and the one or more processors are configured to select the second radar signal pattern parameter set different from the first radar signal pattern parameter set; 20. The device of claim 17, configured to randomly select a radar signal pattern parameter set different from the first radar signal pattern parameter set.

24. the memory and the one or more processors are configured to select the second radar signal pattern parameter set different from the first radar signal pattern parameter set; selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving the communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set; and selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set.

25. the communication includes a priority associated with the other device; the memory and the one or more processors are configured to select the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set; selecting the second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is the same as the initial radar signal pattern parameter set and based at least in part on comparing a priority associated with the device with the priority associated with the other device.

25. The device of claim 24 configured to:

26. the memory and the one or more processors are configured to select the second radar signal pattern parameter set different from the first radar signal pattern parameter set; selecting an initial radar signal pattern parameter set; determining, based at least in part on receiving the communication indicating the first radar signal pattern parameter set, that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set; and maintaining the initial radar signal pattern parameter set as the second radar signal pattern parameter set based at least in part on determining that the first radar signal pattern parameter set is not the same as the initial radar signal pattern parameter set.

27. The memory and the one or more processors 20. The device of claim 17, further configured to broadcast a communication indicative of the second radar signal pattern parameter set.

28. the memory and the one or more processors configured to broadcast the communication indicative of the second radar signal pattern parameter set; 28. The device of claim 27, configured to periodically broadcast the communication indicative of the second radar signal pattern parameter set.

29. 1. A non-transitory computer-readable medium storing a set of instructions for wireless communication, the set of instructions comprising: When executed by one or more processors of a device, the device is caused to: receiving a communication indicating a first radar signal pattern parameter set associated with another device; selecting a second radar signal pattern parameter set different from the first radar signal pattern parameter set based at least in part on receiving the communication indicating the first radar signal pattern parameter set; transmitting a radar signal using the second radar signal pattern parameter set; 1. A non-transitory computer-readable medium comprising one or more instructions for causing a

30. 1. An apparatus for wireless communication, comprising: means for receiving a communication indicating a first radar signal pattern parameter set associated with another device; means for selecting, based at least in part on receiving the communication indicating the first radar signal pattern parameter set, a second radar signal pattern parameter set that is different from the first radar signal pattern parameter set; means for transmitting a radar signal using the second set of radar signal pattern parameters.

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