WO2024137170A1 - Agrégation de grille d'occupation par ondes radio avec indication de cellules occupées et libres - Google Patents

Agrégation de grille d'occupation par ondes radio avec indication de cellules occupées et libres Download PDF

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Publication number
WO2024137170A1
WO2024137170A1 PCT/US2023/082134 US2023082134W WO2024137170A1 WO 2024137170 A1 WO2024137170 A1 WO 2024137170A1 US 2023082134 W US2023082134 W US 2023082134W WO 2024137170 A1 WO2024137170 A1 WO 2024137170A1
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WIPO (PCT)
Prior art keywords
cell
occupancy
aggregated
occupied
grid
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PCT/US2023/082134
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English (en)
Inventor
Stelios STEFANATOS
Arthur GUBESKYS
Shujin WU
Kapil Gulati
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Qualcomm Incorporated
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Publication of WO2024137170A1 publication Critical patent/WO2024137170A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present disclosure relates generally to wireless communication systems, and more particularly, to techniques for occupancy grid aggregation.
  • Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasts.
  • Typical wireless communication systems may employ multiple-access technologies capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple-access technologies include code division multiple access (CDMA) systems, time division multiple access (TDMA) systems, frequency division multiple access (FDMA) systems, orthogonal frequency division multiple access (OFDMA) systems, single-carrier frequency division multiple access (SC-FDMA) systems, and time division synchronous code division multiple access (TD-SCDMA) systems.
  • CDMA code division multiple access
  • TDMA time division multiple access
  • FDMA frequency division multiple access
  • OFDMA orthogonal frequency division multiple access
  • SC-FDMA single-carrier frequency division multiple access
  • TD-SCDMA time division synchronous code division multiple access
  • 5G New Radio is part of a continuous mobile broadband evolution promulgated by Third Generation Partnership Project (3 GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., with Internet of Things (IoT)), and other requirements.
  • 3 GPP Third Generation Partnership Project
  • 5G NR includes services associated with enhanced mobile broadband (eMBB), massive machine type communications (mMTC), and ultra reliable low latency communications (URLLC).
  • eMBB enhanced mobile broadband
  • mMTC massive machine type communications
  • URLLC ultra reliable low latency communications
  • Some aspects of 5G NR may be based on the 4G Long Term Evolution (LTE) standard.
  • LTE Long Term Evolution
  • An example aspect includes a method of wireless communication by a user equipment (UE).
  • the method includes generating occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no object being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors.
  • the method further includes transmitting, to a network entity, one or more signals indicative of the occupancy information.
  • a user equipment comprising a memory storing instructions; and a processor communicatively coupled with the memory.
  • the processor is configured to execute the instructions to generate occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no object being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors.
  • the processor is further configured to execute the instructions to transmit, to a network entity, one or more signals indicative of the occupancy information.
  • Another example aspect includes a method of wireless communication by a network entity.
  • the method includes receiving one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE in the one or more UEs, respective occupancy information associated with that UE is indicative of an occupancy grid as observed by one or more sensors of that UE, wherein the occupancy grid divides an area into a number of cells, wherein for a cell of the occupancy grid, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable, wherein the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unobservable responsive to the cell being identifiable neither as occupied nor as unoccupied.
  • the method further includes recovering an
  • Another example aspect includes a network entity comprising a memory storing instructions; and a processor communicatively coupled with the memory.
  • the processor is configured to execute the instructions to receive one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE in the one or more UEs, respective occupancy information associated with that UE is indicative of an occupancy grid as observed by one or more sensors of that UE, wherein the occupancy grid divides an area into a number of cells, wherein for a cell of the occupancy grid, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable, wherein the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unobservable responsive to
  • the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims.
  • the following description and the annexed drawings set forth in detail certain illustrative features of the one or more aspects. These features are indicative, however, of but a few of the various ways in which the principles of various aspects may be employed, and this description is intended to include all such aspects and their equivalents.
  • FIG. 1 is a diagram illustrating an example of a wireless communications system and an access network, including user equipment (UE) and base station components for implementing occupancy grid aggregation, according to some aspects of the present disclosure.
  • UE user equipment
  • FIG. 2A is a diagram illustrating an example of a first 5G/NR frame for use in communication by the base stations and/or the UEs in FIG. 1, according to some aspects of the present disclosure.
  • FIG. 2B is a diagram illustrating an example of DL channels within a 5G/NR subframe for use in communication by the base stations and/or the UEs in FIG. 1, according to some aspects of the present disclosure.
  • FIG. 2C is a diagram illustrating an example of a second 5G/NR frame for use in communication by the base stations and/or the UEs in FIG. 1, according to some aspects of the present disclosure.
  • FIG. 2D is a diagram illustrating an example of UL channels within a 5G/NR subframe for use in communication by the base stations and/or the UEs in FIG. 1, according to some aspects of the present disclosure.
  • FIG. 3 A is a diagram illustrating an example system including UEs that detect one or more occupied cells in an occupancy grid associated with an area, according to some aspects of the present disclosure.
  • FIG. 3B is a diagram illustrating an aggregated occupancy grid of the area in the example system of FIG. 3 A, indicating cells observed by one or more UEs as being occupied, according to some aspects of the present disclosure.
  • FIG. 4A is a diagram illustrating an example system including UEs that detect one or more occupied, unoccupied, and/or unobservable cells in an occupancy grid associated with an area, according to some aspects of the present disclosure.
  • FIG. 4B is a diagram illustrating an aggregated occupancy grid of the area in the example system of FIG. 4A, indicating cells observed by one or more UEs as being occupied, according to some aspects of the present disclosure.
  • FIG. 4C is a diagram illustrating an aggregated occupancy grid of the area in the example system of FIG. 4A, indicating cells observed by one or more UEs as being occupied or as being free/unoccupied, according to some aspects of the present disclosure.
  • FIG. 5 is an example of a UE generating an occupancy matrix associated with an area, according to some aspects of the present disclosure.
  • FIG. 6A is an example of decision regions for determining an occupancy status of a cell in an occupancy grid, according to some aspects of the present disclosure.
  • FIG. 6B is another example of decision regions for determining an occupancy status of a cell in an occupancy grid, according to some aspects of the present disclosure.
  • FIG. 7 is another example of a UE generating an occupancy matrix associated with an area, according to some aspects of the present disclosure.
  • FIG. 8 is a diagram illustrating an example of a base station and a UE in an access network, according to some aspects of the present disclosure.
  • FIG. 9 is a diagram illustrating an example of disaggregated base station architecture, according to some aspects of the present disclosure.
  • FIG. 10 is a block diagram of an example UE configured for implementing occupancy grid aggregation functionality, according to some aspects of the present disclosure.
  • FIG. 11 is a flowchart of an example method of wireless communication by a UE for implementing occupancy grid aggregation functionality, according to some aspects of the present disclosure.
  • FIG. 12 is a block diagram of an example network entity configured for implementing occupancy grid aggregation functionality, according to some aspects of the present disclosure.
  • FIG. 13 is a flowchart of an example method of wireless communication by a network entity for implementing occupancy grid aggregation functionality, according to some aspects of the present disclosure.
  • a user equipment that generates occupancy information for each cell of an occupancy grid of an area of interest as observed by the UE using one or more UE sensors (e.g., camera, radar, lidar, etc., which may be integrated within the UE or separate from but associated with the UE).
  • An occupancy grid is a grid that divides an area of interest into a number of cells.
  • the occupancy information generated by the UE for each cell of the occupancy grid indicates whether that cell is occupied by an object, or unoccupied, or unobservable by the sensors of the UE.
  • the UE may generate an “occupancy matrix” associated with the occupancy grid as observed by the UE.
  • a matrix is a collection of data organized / arranged in a number of rows and/or columns.
  • the occupancy matrix associated with the occupancy grid includes a number of elements for each cell in the occupancy grid.
  • the elements of the occupancy matrix that are associated with a cell in the occupancy grid have values that reflect the occupancy information generated by the UE for that cell (occupied, or unoccupied, or unobservable).
  • the elements of the occupancy matrix that are associated with a cell in the occupancy grid have values that collectively indicate whether the sensors of the UE have detected the associated cell as being occupied by an object, such as but not limited to another UE, or whether the sensors of the UE have not detected any objects in the associated cell, or whether the associated cell is unobservable by the sensors of the UE (e.g., due to occlusion or due to being out of range of UE sensors, etc.).
  • the UE may transmit a signal indicative of each element of the occupancy matrix using a reserved / pre-configured resource element (RE) that has been pre-configured in common for multiple UEs for transmission of that element.
  • a network entity may receive an over-the-air (OTA) aggregation of signals indicative of occupancy matrices of the UEs over the pre-configured REs, and then use the received signals to generate an aggregated occupancy grid of the area of interest.
  • the network entity may then transmit one or more signals indicative of the aggregated occupancy grid to one or more UEs, or may use the aggregated occupancy grid to provide assisted driving information to one or more UEs.
  • OTA over-the-air
  • processors include microprocessors, microcontrollers, graphics processing units (GPUs), central processing units (CPUs), application processors, digital signal processors (DSPs), reduced instruction set computing (RISC) processors, systems on a chip (SoC), baseband processors, field programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functionality described throughout this disclosure.
  • processors in the processing system may execute software.
  • Software shall be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, threads of execution, procedures, functions, etc., whether referred to as software, firmware, middleware, microcode, hardware description language, or otherwise.
  • the functions described may be implemented in hardware, software, or any combination thereof. If implemented in software, the functions may be stored on or encoded as one or more instructions or code on a computer-readable medium.
  • Computer-readable media includes computer storage media. Storage media may be any available media that can be accessed by a computer.
  • such computer-readable media can include a random-access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of the aforementioned types of computer-readable media, or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.
  • RAM random-access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable ROM
  • optical disk storage magnetic disk storage
  • magnetic disk storage other magnetic storage devices
  • combinations of the aforementioned types of computer-readable media or any other medium that can be used to store computer executable code in the form of instructions or data structures that can be accessed by a computer.
  • FIG. 1 is a diagram illustrating an example of a wireless communications system and an access network 100 including UEs 104 and a network entity 102, also referred to herein as a base station 102 (e.g., a gNB) and/or a disaggregated base station, configured to implement occupancy grid aggregation functionality.
  • a UE 104 may include an occupancy grid reporting component 140 configured to determine occupancy information for each cell of an occupancy grid of an area of interest as observed by the UE 104 using one or more UE sensors (e.g., camera, radar, lidar).
  • An occupancy grid is a grid that divides an area of interest into a number of cells.
  • the occupancy information for each cell indicates whether that cell is occupied by an object, or unoccupied, or unobservable by the sensors of the UE 104.
  • Associated with the occupancy grid is a corresponding “occupancy matrix” as observed by the UE 104.
  • the occupancy matrix includes a number of elements for each cell in the occupancy grid.
  • the elements of the occupancy matrix that are associated with a cell in the occupancy grid have values that reflect the occupancy information of that cell (occupied, or unoccupied, or unobservable).
  • the elements that are associated with a cell in the occupancy grid have values that collectively indicate whether the UE 104 has detected the associated cell as being occupied by an object such as another UE, or whether the UE 104 has not detected any objects in the associated cell, or whether the associated cell is unobservable by the UE 104 (e.g., due to occlusion or due to being out of range of UE sensors, etc.).
  • the UE 104 may transmit a signal indicative of each element of the occupancy matrix using a reserved / pre-configured RE that has been pre-configured in common for multiple UEs for transmission of that element.
  • an occupancy grid aggregation component 198 in the network entity 102 may receive an OTA aggregation of signals indicative of occupancy matrices of the UEs over the preconfigured REs, and then use the received signals to generate an aggregated occupancy grid of the area of interest.
  • the network entity 102 may then transmit one or more signals indicative of the aggregated occupancy grid to one or more UEs 104, or may use the aggregated occupancy grid to provide assisted driving information to one or more UEs 104.
  • the wireless communications system may also include other base stations 102, other UEs 104, an Evolved Packet Core (EPC) 160, and another core network 190 (e.g., a 5G Core (5GC)).
  • the base stations 102 may include macrocells (high power cellular base station) and/or small cells (low power cellular base station).
  • the macrocells include base stations.
  • the small cells include femtocells, picocells, and microcells.
  • the base stations 102 configured for 4G LTE may interface with the EPC 160 through backhaul links 132 (e.g., SI interface).
  • the base stations 102 configured for 5G NR may interface with core network 190 through backhaul links 184.
  • UMTS Universal Mobile Telecommunications System
  • 5G NR Next Generation RAN
  • the base stations 102 may perform one or more of the following functions: transfer of user data, radio channel ciphering and deciphering, integrity protection, header compression, mobility control functions (e.g., handover, dual connectivity), inter-cell interference coordination, connection setup and release, load balancing, distribution for non-access stratum (NAS) messages, NAS node selection, synchronization, radio access network (RAN) sharing, multimedia broadcast multicast service (MBMS), subscriber and equipment trace, RAN information management (RIM), paging, positioning, and delivery of warning messages.
  • the base stations 102 may communicate directly or indirectly (e.g., through the EPC 160 or core network 190) with each other over backhaul links 134 (e.g., X2 interface).
  • the backhaul links 132, 134, 184 may be wired or wireless.
  • the base stations 102 may wirelessly communicate with the UEs 104. Each of the base stations 102 may provide communication coverage for a respective geographic coverage area 110. There may be overlapping geographic coverage areas 110. For example, the small cell 102' may have a coverage area 110' that overlaps the coverage area 110 of one or more macro base stations 102.
  • a network that includes both small cell and macrocells may be known as a heterogeneous network.
  • a heterogeneous network may also include Home Evolved Node Bs (eNBs) (HeNBs), which may provide service to a restricted group known as a closed subscriber group (CSG).
  • eNBs Home Evolved Node Bs
  • CSG closed subscriber group
  • the communication links 120 between the base stations 102 and the UEs 104 may include uplink (UL) (also referred to as reverse link) transmissions from a UE 104 to a base station 102 and/or downlink (DL) (also referred to as forward link) transmissions from a base station 102 to a UE 104.
  • the communication links 120 may use multiple-input and multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and/or transmit diversity.
  • the communication links may be through one or more carriers.
  • the base stations 102 / UEs 104 may use spectrum up to fMHz (e.g., 5, 10, 15, 20, 100, 400, etc.
  • the component carriers may include a primary component carrier and one or more secondary component carriers.
  • a primary component carrier may be referred to as a primary cell (PCell) and a secondary component carrier may be referred to as a secondary cell (SCell).
  • D2D communication link 158 may use the DL/UL WWAN spectrum.
  • the D2D communication link 158 may use one or more sidelink channels, such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH).
  • sidelink channels such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH).
  • sidelink channels such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH).
  • sidelink channels such as a physical sidelink broadcast channel (PSBCH), a physical sidelink discovery channel (PSDCH), a physical sidelink shared channel (PSSCH), and a physical sidelink control channel (PSCCH).
  • the wireless communications system may further include a Wi-Fi access point (AP) 150 in communication with Wi-Fi stations (STAs) 152 via communication links 154 in a 5 GHz unlicensed frequency spectrum.
  • AP Wi-Fi access point
  • STAs Wi-Fi stations
  • communication links 154 in a 5 GHz unlicensed frequency spectrum.
  • the STAs 152 / AP 150 may perform a clear channel assessment (CCA) prior to communicating in order to determine whether the channel is available.
  • CCA clear channel assessment
  • the small cell 102' may operate in a licensed and/or an unlicensed frequency spectrum. When operating in an unlicensed frequency spectrum, the small cell 102' may employ NR and use the same 5 GHz unlicensed frequency spectrum as used by the Wi-Fi AP 150. The small cell 102', employing NR in an unlicensed frequency spectrum, may boost coverage to and/or increase capacity of the access network.
  • a base station 102 may include an eNB, gNodeB (gNB), or another type of base station.
  • Some base stations, such as gNB 180 may operate in a traditional sub 6 GHz spectrum, in millimeter wave (mmW) frequencies, and/or near mmW frequencies in communication with the UE 104.
  • mmW millimeter wave
  • mmW millimeter wave
  • mmW base station Extremely high frequency
  • Extremely high frequency (EHF) is part of the RF in the electromagnetic spectrum. EHF has a range of 30 GHz to 300 GHz and a wavelength between 1 millimeter and 10 millimeters.
  • Radio waves in the band may be referred to as a millimeter wave.
  • Near mmW may extend down to a frequency of 3 GHz with a wavelength of 100 millimeters.
  • the super high frequency (SHF) band extends between 3 GHz and 30 GHz, also referred to as centimeter wave.
  • Communications using the mmW / near mmW radio frequency band (e.g., 3 GHz - 300 GHz) has extremely high path loss and a short range.
  • the mmW base station 180 may utilize beamforming 182 with the UE 104 to compensate for the extremely high path loss and short range.
  • the base station 180 may transmit a beamformed signal to the UE 104 in one or more transmit directions 182'.
  • the UE 104 may receive the beamformed signal from the base station 180 in one or more receive directions 182".
  • the UE 104 may also transmit a beamformed signal to the base station 180 in one or more transmit directions.
  • the base station 180 may receive the beamformed signal from the UE 104 in one or more receive directions.
  • the base station 180 / UE 104 may perform beam training to determine the best receive and transmit directions for each of the base station 180 / UE 104.
  • the transmit and receive directions for the base station 180 may or may not be the same.
  • the transmit and receive directions for the UE 104 may or may not be the same.
  • the EPC 160 may include a Mobility Management Entity (MME) 162, other MMEs 164, a Serving Gateway 166, a Multimedia Broadcast Multicast Service (MBMS) Gateway 168, a Broadcast Multicast Service Center (BM-SC) 170, and a Packet Data Network (PDN) Gateway 172.
  • MME Mobility Management Entity
  • MBMS Multimedia Broadcast Multicast Service
  • BM-SC Broadcast Multicast Service Center
  • PDN Packet Data Network
  • the MME 162 may be in communication with a Home Subscriber Server (HSS) 174.
  • HSS Home Subscriber Server
  • the MME 162 is the control node that processes the signaling between the UEs 104 and the EPC 160.
  • the MME 162 provides bearer and connection management. All user Internet protocol (IP) packets are transferred through the Serving Gateway 166, which itself is connected to the PDN Gateway 172.
  • IP Internet protocol
  • the PDN Gateway 172 provides UE IP address allocation as well as other functions.
  • the PDN Gateway 172 and the BM-SC 170 are connected to the IP Services 176.
  • the IP Services 176 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), a PS Streaming Service, and/or other IP services.
  • the BM-SC 170 may provide functions for MBMS user service provisioning and delivery.
  • the BM-SC 170 may serve as an entry point for content provider MBMS transmission, may be used to authorize and initiate MBMS Bearer Services within a public land mobile network (PLMN), and may be used to schedule MBMS transmissions.
  • PLMN public land mobile network
  • the MBMS Gateway 168 may be used to distribute MBMS traffic to the base stations 102 belonging to a Multicast Broadcast Single Frequency Network (MBSFN) area broadcasting a particular service, and may be responsible for session management (start/stop) and for collecting eMBMS related charging information.
  • MMSFN Multicast Broadcast Single Frequency Network
  • the core network 190 may include an Access and Mobility Management Function (AMF) 192, other AMFs 193, a Session Management Function (SMF) 194, and a User Plane Function (UPF) 195.
  • the AMF 192 may be in communication with a Unified Data Management (UDM) 196.
  • the AMF 192 is the control node that processes the signaling between the UEs 104 and the core network 190.
  • the AMF 192 provides QoS flow and session management. All user Internet protocol (IP) packets are transferred through the UPF 195.
  • the UPF 195 provides UE IP address allocation as well as other functions.
  • the UPF 195 is connected to the IP Services 197.
  • the IP Services 197 may include the Internet, an intranet, an IP Multimedia Subsystem (IMS), a PS Streaming Service, and/or other IP services.
  • IMS IP Multimedia Subsystem
  • the base station 102 may also be referred to as a gNB, Node B, evolved Node B (eNB), an access point, a base transceiver station, a radio base station, a radio transceiver, a transceiver function, a basic service set (BSS), an extended service set (ESS), a transmit reception point (TRP), or some other suitable terminology.
  • the base station 102 provides an access point to the EPC 160 or core network 190 for a UE 104.
  • Examples of UEs 104 include a cellular phone, a smart phone, a session initiation protocol (SIP) phone, a laptop, a personal digital assistant (PDA), a satellite radio, a global positioning system, a multimedia device, a video device, a digital audio player (e.g., MP3 player), a camera, a game console, a tablet, a smart device, a wearable device, a vehicle, an electric meter, a gas pump, a large or small kitchen appliance, a healthcare device, an implant, a sensor/actuator, a display, or any other similar functioning device.
  • SIP session initiation protocol
  • PDA personal digital assistant
  • the UEs 104 may be referred to as loT devices (e.g., parking meter, gas pump, toaster, vehicles, heart monitor, etc.).
  • the UE 104 may also be referred to as a station, a mobile station, a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communications device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, or some other suitable terminology.
  • FIGS. 2A-2D one or more example frame structures, channels, and resources may be used for communication between the base stations 102 and the UEs 104 of FIG. 1.
  • FIG. 2A is a diagram 200 illustrating an example of a first subframe within a 5G/NR frame structure.
  • FIG. 2B is a diagram 230 illustrating an example of DL channels within a 5G/NR subframe.
  • FIG. 2C is a diagram 250 illustrating an example of a second subframe within a 5G/NR frame structure.
  • FIG. 2D is a diagram 280 illustrating an example of UL channels within a 5G/NR subframe.
  • the 5G/NR frame structure may be FDD in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for either DL or UL, or may be TDD in which for a particular set of subcarriers (carrier system bandwidth), subframes within the set of subcarriers are dedicated for both DL and UL.
  • the 5G/NR frame structure is assumed to be TDD, with subframe 4 being configured with slot format 28 (with mostly DL), where D is DL, U is UL, and X is flexible for use between DL/UL, and subframe 3 being configured with slot format 34 (with mostly UL).
  • subframes 3, 4 are shown with slot formats 34, 28, respectively, any particular subframe may be configured with any of the various available slot formats 0-61.
  • Slot formats 0, 1 are all DL, UL, respectively.
  • Other slot formats 2-61 include a mix of DL, UL, and flexible symbols.
  • UEs are configured with the slot format (dynamically through DL control information (DCI), or semi-statically/statically through radio resource control (RRC) signaling) through a received slot format indicator (SFI). Note that the description infra applies also to a 5G/NR frame structure that is TDD.
  • DCI DL control information
  • RRC radio resource control
  • a frame (10 ms) may be divided into 10 equally sized subframes (1 ms). Each subframe may include one or more time slots. Subframes may also include mini-slots, which may include 7, 4, or 2 symbols. Each slot may include 7 or 14 symbols, depending on the slot configuration. For slot configuration 0, each slot may include 14 symbols, and for slot configuration 1, each slot may include 7 symbols.
  • the symbols on DL may be cyclic prefix (CP) OFDM (CP- OFDM) symbols.
  • the symbols on UL may be CP-OFDM symbols (for high throughput scenarios) or discrete Fourier transform (DFT) spread OFDM (DFT-s- OFDM) symbols (also referred to as single carrier frequency-division multiple access (SC-FDMA) symbols) (for power limited scenarios; limited to a single stream transmission).
  • DFT discrete Fourier transform
  • SC-FDMA single carrier frequency-division multiple access
  • the number of slots within a subframe is based on the slot configuration and the numerology. For slot configuration 0, different numerologies p 0 to 5 allow for 1, 2, 4, 8, 16, and 32 slots, respectively, per subframe. For slot configuration 1, different num erol ogies 0 to 2 allow for 2, 4, and 8 slots, respectively, per subframe.
  • the subcarrier spacing and symbol length/duration are a function of the numerology.
  • the subcarrier spacing may be equal to 2 * 15 kHz, where is the numerology 0 to 5.
  • the symbol length/duration is inversely related to the subcarrier spacing.
  • the subcarrier spacing is 15 kHz and symbol duration is approximately 66.7 s.
  • a resource grid may be used to represent the frame structure.
  • Each time slot includes a resource block (RB) (also referred to as physical RBs (PRBs)) that extends 12 consecutive subcarriers.
  • RB resource block
  • PRBs physical RBs
  • the resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme.
  • the RS may include demodulation RS (DM-RS) (indicated as R x for one particular configuration, where lOOx is the port number, but other DM-RS configurations are possible) and channel state information reference signals (CSI-RS) for channel estimation at the UE.
  • DM-RS demodulation RS
  • CSI-RS channel state information reference signals
  • the RS may also include beam measurement RS (BRS), beam refinement RS (BRRS), and phase tracking RS (PT-RS).
  • BRS beam measurement RS
  • BRRS beam refinement RS
  • PT-RS phase tracking RS
  • FIG. 2B illustrates an example of various DL channels within a subframe of a frame.
  • the physical downlink control channel (PDCCH) carries DCI within one or more control channel elements (CCEs), each CCE including nine RE groups (REGs), each REG including four consecutive REs in an OFDM symbol.
  • a primary synchronization signal (PSS) may be within symbol 2 of particular subframes of a frame. The PSS is used by a UE 104 to determine subframe/symbol timing and a physical layer identity.
  • a secondary synchronization signal (SSS) may be within symbol 4 of particular subframes of a frame. The SSS is used by a UE to determine a physical layer cell identity group number and radio frame timing.
  • the UE can determine a physical cell identifier (PCI). Based on the PCI, the UE can determine the locations of the aforementioned DM-RS.
  • the physical broadcast channel (PBCH) which carries a master information block (MIB), may be logically grouped with the PSS and SSS to form a synchronization signal (SS)/PBCH block.
  • the MIB provides a number of RBs in the system bandwidth and a system frame number (SFN).
  • the physical downlink shared channel (PDSCH) carries user data, broadcast system information not transmitted through the PBCH such as system information blocks (SIBs), and paging messages.
  • SIBs system information blocks
  • some of the REs carry DM-RS (indicated as R for one particular configuration, but other DM-RS configurations are possible) for channel estimation at the base station.
  • the UE may transmit DM-RS for the physical uplink control channel (PUCCH) and DM-RS for the physical uplink shared channel (PUSCH).
  • the PUSCH DM-RS may be transmitted in the first one or two symbols of the PUSCH.
  • the PUCCH DM-RS may be transmitted in different configurations depending on whether short or long PUCCHs are transmitted and depending on the particular PUCCH format used.
  • the UE may transmit sounding reference signals (SRS).
  • the SRS may be used by a base station for channel quality estimation to enable frequency-dependent scheduling on the UL.
  • FIG. 2D illustrates an example of various UL channels within a subframe of a frame.
  • the PUCCH may be located as indicated in one configuration.
  • the PUCCH carries uplink control information (UCI), such as scheduling requests, a channel quality indicator (CQI), a precoding matrix indicator (PMI), a rank indicator (RI), and HARQ ACK/NACK feedback.
  • UCI uplink control information
  • the PUSCH carries data, and may additionally be used to carry a buffer status report (BSR), a power headroom report (PHR), and/or UCI.
  • BSR buffer status report
  • PHR power headroom report
  • a UE may generate an occupancy vector associated with an occupancy grid, where each element of the occupancy vector is associated with a unique cell in the occupancy grid, and the value of the element reflects a state of the associated cell indicating whether that cell is occupied or not occupied.
  • An occupancy vector as observed by a UE may combine information obtained from different sensor types integrated with or separate from and associated with the UE (e.g., camera, radar, lidar, etc.) to indicate whether each cell of an associated occupancy grid is occupied by an object, where the object may include, but is not limited to, a vehicle, a guard rail on the side of a road, a building along a road, a person, or any other type of object that may be detectable by a sensor associated with the UE. Accordingly, the occupancy vector may provide an improved understanding of an environment where a UE is located.
  • An occupancy vector as observed by one UE is limited by the range and/or angular field-of-view of the sensors of that UE and/or by occlusion of a field-of-view of that UE by other vehicles / objects.
  • applications such as advanced driver assistance systems (ADAS) may require an understanding of the environment that is not limited by such sensor capabilities and occlusions.
  • ADAS advanced driver assistance systems
  • Some systems implement a cooperative operation where multiple UEs share their locally-computed occupancy vector of a certain common area of interest so that an aggregated / fused occupancy grid may be generated.
  • the aggregated occupancy grid provides more information than what a single UE may individually achieve.
  • the number of (dedicated) resources used for communication of occupancy vector information by the UEs may become excessive, in particular in cases where a dynamic occupancy grid is required to identify objects such as mobile objects, hence requiring frequent updates.
  • Some systems allow for OTA aggregation of UE occupancy vectors, where for each cell of an occupancy grid, an RE is configured in common for multiple UEs to transmit their respective information of that cell over the associated RE to be OTA-aggregated.
  • These systems provide a scalable approach that renders the required resources independent of the number of UEs, but equal to the number of cells in the occupancy grid.
  • the aggregated occupancy vector only identifies the grid cells that are occupied, while the cells that are not identified as occupied may either be free/unoccupied or unobservable by the UEs.
  • occupied cell identification is important (e.g., for ADAS applications)
  • knowledge of free cells may improve environmental awareness and may help to implicitly identify occupied cells that are not observable by any sensors in the field.
  • some present aspects provide OTA aggregation of occupancy information that identifies both occupied and free cells in an area of interest.
  • the amount of the communicated occupancy information may be selected according to a tradeoff between the required resources and the reliability of correct cell state identification at a receiver (e.g., at a network entity).
  • maps In some systems, environment information (“maps”) is required for automotive applications. For applications such as ADAS and (self-)positioning, high-definition (HD) maps are required (e.g., maps that have more detail than conventional maps).
  • HD maps high-definition maps are required (e.g., maps that have more detail than conventional maps).
  • One way for a UE to generate HD map information is to utilize the sensors of that UE, such as radar, lidar, and cameras, and fuse their observations (sensing), towards generating a map in real-time.
  • One option toward a low-level data fusion from diverse types of sensors is the occupancy grid.
  • the occupancy grid is a “point cloud” map (e.g., similar to what is used in radar systems), where the points in the point cloud are aligned with the (pre-configured) grid cells, and the occupancy of a cell is determined by fusing one or more sensing information a UE has (e.g., the output of multiple sensors of the UE, e.g., radar, lidar, cameras, etc.).
  • the occupancy grid enhances the information / understanding about the area the UE is in (in addition to the information provided by conventional maps), the occupancy grid is limited by the limitations of the UE sensors, such as range, angular field-of-view, etc.
  • the resulting occupancy grid point cloud
  • Another issue that may impact the occupancy grid negatively is “visibility gaps” that sensor(s) may experience due to occlusions that a UE is subject to.
  • a “target” e.g., a vehicle or pedestrian
  • a “target” may not be visible to a sensor of a UE even if the target is located within the sensor coverage of the UE sensors, due to occlusions by, for example, one or more vehicles and/or buildings.
  • Some systems overcome these issues by fusing the occupancy grids computed by each UE in an area to generate an “aggregated” (or global) occupancy grid.
  • multiple UEs cooperate by creating a network of distributed sensors whose observations over a given area of interest are combined.
  • a central server (such as a network entity) gathers the occupancy grid information of each UE, aggregates the grids, and potentially broadcasts the aggregated grid back to the UEs.
  • an area 302 may include UEs 104 that each are equipped with at least one sensor 308 (such as, but not limited to, a radar mounted on a front grill of a vehicle).
  • a point cloud 314 may be generated by each UE 104, where the point cloud 314 includes one or more points 312 that are detected by the sensor 308 of that UE 104.
  • the point could 314 generated by each UE 104 is limited by a range / field-of-view 310 of the sensor 308 of that UE 104.
  • an aggregated occupancy grid 304 (FIG.
  • the aggregated occupancy grid 304 may be obtained by first translating the local radar point cloud of each UE to a local occupancy grid and then aggregating them.
  • the aggregated occupancy grid 304 provides more information than what a single sensor may achieve. This is due to the limited field- of-view and/or range of that sensor and/or due to occlusions by vehicles, buildings, etc.
  • map information requires continuous updating to be able to track both long-term and short-term variations / changes of the environment. Accordingly, a “dynamic” occupancy grid needs to be obtained and maintained.
  • a dynamic aggregated cooperative occupancy grid requires the contributing UEs to sense and transmit their grid at about the same time, with this procedure repeated with a frequency proportional to the dynamics of the environment.
  • having every UE provide a respective occupancy grid over dedicated resources at the same time results in large communication overhead that is proportional to the number of contributing UEs. This may not be a scalable approach.
  • Some systems provide an efficient and scalable procedure toward generating cooperative dynamic occupancy grids from a number of UEs with potentially high update rates. For example, in some systems, each grid cell of an area is mapped to a unique resource element (RE) that is configured in common for all contributing UEs. If a UE observes a cell as occupied, that UE transmits a +1 (or some other preconfigured positive value) over the corresponding RE. A server (e.g., a network entity) may then measure the received energy over the RE. If the received energy exceeds a threshold, the network entity deduces that at least one UE has identified the corresponding cell as occupied.
  • RE resource element
  • a cell that is not indicated as occupied may either be free or not observable, and which of the two is the case may not be inferable.
  • indication of occupied cells may be sufficient to, for example, avoid moving toward/over occupied cells, knowledge of which cells are free (or unobserved) may further enhance the understanding of the environment. This is especially true in the case when the point cloud of each vehicle is sparse due to, for example, limited number of sensors and/or sensors with limited field-of-view (limited detection capabilities). Identification of the free cells in the occupancy grid may distinguish free cells from cells that are occupied but not observed.
  • each UE 104 may indicate the status of that cell as: (1) being observed as occupied, (2) being observed as free, or (3) not being observed.
  • a first aggregated occupancy grid 404 of the area 302 that only includes the indication of occupied cells 408 provides limited understanding of the occupancy in the area 402 due to, for example, the limited field- of-view of the sensors of the UEs 104, occlusion of the field-of-view of the sensors by other UEs 104, etc.
  • a second aggregated occupancy grid 406 of the area 402 that also includes the indication of free cells 410 may implicitly identify one or more of the bounding boxes of the UEs 104, even though their outline may not be observable from all angles.
  • the data volume transmitted increases as compared to indication of occupied cells alone.
  • the number of free cells is typically much larger than occupied cells, and the free area observed may have arbitrary patterns that cannot be efficiently compressed. This renders an OTA scheme for occupancy grid aggregation even more desirable toward reducing resource utilization. Accordingly, some present aspects define a procedure for OTA aggregation of occupancy grids that identify both occupied and free cells.
  • each cell of the occupancy grid corresponds to two REs (a “first” and a “second” RE).
  • This mapping of cells to REs is pre-configured (and common to all UEs participating in the aggregation).
  • a UE that identifies a cell as “free” transmits the values “A” and “0” over the corresponding first and second REs, respectively.
  • a UE that identifies a cell as “occupied” transmits the values “0” and “A” over the corresponding first and second REs, respectively.
  • a UE that does not observe a cell transmits the values “0” and “0” over the corresponding first and second REs, respectively (i.e., no transmission).
  • the value of “A” is pre-configured (common to all UEs).
  • the UE 104 locally identifies cells 6 and 7 of the occupancy grid 502 as being occupied by a locally detected object within the area 510 (e.g., occupied by a vehicle 512).
  • the UE 104 also locally identifies cells 0, 1, 3, and 4 of the occupancy grid 502 as being free.
  • the UE 104 also identifies the remaining cells 2, 5, and 8 of the occupancy grid 502 as being non-observable (which may happen, for example, due to UE sensor range / field-of-view limitation or due to occlusion of the field-of-view of UE sensors).
  • the UE 104 then generates an occupancy matrix 504 that includes a pair of elements for each cell of the occupancy grid 502. For example, a pair of elements 514 in the occupancy matrix 504 corresponds to the cell 0 in the occupancy grid 502. If the UE 104 observes a cell as being occupied, the UE 104 sets the value of the corresponding pair of elements in the occupancy matrix 504 as (0, A). For example, in FIG. 5, each of the two pairs of elements in the occupancy matrix 504 that correspond to the two occupied cells 6 and 7 of the occupancy grid 502 are set as (0, A).
  • the UE 104 sets the value of the corresponding pair of elements in the occupancy matrix 504 as (A, 0). For example, in FIG. 5, each of the four pairs of elements in the occupancy matrix 504 that correspond to the four free / unoccupied cells 0, 1, 3, and 4 of the occupancy grid 502 are set as (A, 0). If a cell is unobservable by the UE 104, the UE 104 sets the value of the corresponding pair of elements in the occupancy matrix 504 as (0, 0). For example, in FIG. 5, each of the three pairs of elements in the occupancy matrix 504 that correspond to the three unobservable cells 2, 5, and 8 of the occupancy grid 502 are set as (0, 0).
  • each element of the occupancy matrix 504 there corresponds a unique RE out of a number of pre-configured / reserved REs, where an RE may be, but is not limited to, a frequency RE in a symbol. Consequently, each cell of the occupancy grid 502 which is associated with a pair of elements in the occupancy matrix 504 is also associated with a corresponding pair of pre-configured REs.
  • This mapping of the elements to the REs is in common for multiple UEs that each generate a respective occupancy matrix of the area 510.
  • the UE 104 then transmits the (analog) complex value of each element of the occupancy matrix 504 over the corresponding RE. Accordingly, for example, for each element of the occupancy matrix 504 that has the value A, the UE 104 transmits the value A over a pre-configured RE that corresponds to that cell of the occupancy matrix 504.
  • a receiver may observe the energy of the pair of REs associated with a given cell of an occupancy grid, e.g., may observe the values El and E2 of the energy of the pair of REs.
  • the receiver may place a point (El, E2) on a decision plane (e.g., 602 or 604) that defines three decision regions corresponding to the cell being occupied, free, or unobserved.
  • the receiver may decide whether the cell is free, occupied, or unobserved.
  • the decision plane may be configured based on a threshold energy value 0 that is implementation-specific. In this energy-based detection, signals by multiple UEs over the same RE are combined and detected non-coherently, and the aggregation is applicable without requiring phase synchronization by the UEs.
  • each cell of the occupancy grid there may correspond three REs (a “first”, a “second,” and a “third” RE).
  • This mapping of cells to REs is pre-configured (and common to all UEs participating in the aggregation).
  • a UE that identifies a cell as “free” transmits the values “A,” “0,” and “0” over the corresponding first, second, and third RE, respectively.
  • a UE that identifies a cell as “occupied” transmits the values “0,” “A,” and “0” over the corresponding first, second, and third RE, respectively.
  • a UE that does not observe a cell transmits the values “0,” “0,” “A” over the corresponding first, second, and third RE, respectively.
  • the value of A is pre-configured (common to all UEs).
  • the UE 104 may generate an occupancy matrix 702 that includes three elements for each cell of the occupancy grid 502. For example, a trio of elements 704 in the occupancy matrix 702 corresponds to the cell 0 in the occupancy grid 502.
  • the UE 104 sets the value of the corresponding trio of elements in the occupancy matrix 504 as (0, A, 0). For example, in FIG. 7, each of the two trios of elements in the occupancy matrix 702 that correspond to the two occupied cells 6 and 7 of the occupancy grid 502 are set as (0, A, 0). If the UE 104 observes a cell as being free / unoccupied, the UE 104 sets the value of the corresponding trio of elements in the occupancy matrix 504 as (A, 0, 0). For example, in FIG.
  • each of the four trios of elements in the occupancy matrix 702 that correspond to the four free / unoccupied cells 0, 1, 3, and 4 of the occupancy grid 502 are set as (A, 0, 0). If a cell is unobservable by the UE 104, the UE 104 sets the value of the corresponding trio of elements in the occupancy matrix 702 as (0, 0, A). For example, in FIG. 7, each of the three trios of elements in the occupancy matrix 702 that correspond to the three unobservable cells 2, 5, and 8 of the occupancy grid 502 are set as (0, 0, A).
  • each element of the occupancy matrix 702 there corresponds a unique RE out of a number of pre-configured / reserved REs, where an RE may be, but is not limited to, a frequency RE in a symbol. Consequently, each cell of the occupancy grid 502 which is associated with a trio of elements in the occupancy matrix 702 is also associated with a corresponding trio of pre-configured REs.
  • This mapping of the elements to the REs is in common for multiple UEs that each generate a respective occupancy matrix of the area 510.
  • the UE 104 then transmits the (analog) complex value of each element of the occupancy matrix 702 over the corresponding RE. Accordingly, for example, for each element of the occupancy matrix 702 that has the value A, the UE 104 transmits the value A over a pre-configured RE that corresponds to that cell of the occupancy matrix 702.
  • associating three REs with each cell of an occupancy grid as in FIG. 7 increases the reliability of the OTA aggregation by improving the probability of correctly detecting the state (“free,” “occupied,” “not observed”) of the cell.
  • a cell that is not observed by any UE ideally results in no energy appearing over the corresponding 1 st and 2nd REs associated with that cell.
  • these two REs may appear with some energy at the receiver. If the energy of one of the REs is significant, the cell may be erroneously indicated as being free.
  • FIG. 5 For the same cell in FIG.
  • the energy of the third RE is likely to be large and thus serves as an extra level of protection from erroneously declaring the cell as being free instead of unobserved.
  • This improvement in detection accuracy comes at the cost of requiring more resources, specifically, associating two REs with each cell of an occupancy grid as in FIG. 5 as compared to associating three REs with each cell of an occupancy grid as in FIG. 7.
  • FIG. 8 is a block diagram of a base station 810 including occupancy grid aggregation component 198 in communication with a UE 850 including occupancy grid reporting component 140 in an access network, where the base station 810 may be an example implementation of base station 102 and where UE 850 may be an example implementation of UE 104.
  • IP packets from the EPC 160 may be provided to a controller/processor 875.
  • the controller/processor 875 implements layer 3 and layer 2 functionality.
  • Layer 3 includes a radio resource control (RRC) layer
  • layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a medium access control (MAC) layer.
  • RRC radio resource control
  • SDAP service data adaptation protocol
  • PDCP packet data convergence protocol
  • RLC radio link control
  • MAC medium access control
  • the controller/processor 875 provides RRC layer functionality associated with broadcasting of system information (e.g., MIB, SIBs), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), inter radio access technology (RAT) mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (ciphering, deciphering, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs), error correction through ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs), re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction
  • the transmit (TX) processor 816 and the receive (RX) processor 870 implement layer 1 functionality associated with various signal processing functions.
  • Layer 1 which includes a physical (PHY) layer, may include error detection on the transport channels, forward error correction (FEC) coding/decoding of the transport channels, interleaving, rate matching, mapping onto physical channels, modulation/demodulation of physical channels, and MIMO antenna processing.
  • the TX processor 816 handles mapping to signal constellations based on various modulation schemes (e.g., binary phase-shift keying (BPSK), quadrature phase-shift keying (QPSK), M-phase-shift keying (M-PSK), M-quadrature amplitude modulation (M-QAM)).
  • BPSK binary phase-shift keying
  • QPSK quadrature phase-shift keying
  • M-PSK M-phase-shift keying
  • M-QAM M-quadrature amplitude modulation
  • the coded and modulated symbols may then be split into parallel streams.
  • Each stream may then be mapped to an OFDM subcarrier, multiplexed with a reference signal (e.g., pilot) in the time and/or frequency domain, and then combined together using an Inverse Fast Fourier Transform (IFFT) to produce a physical channel carrying a time domain OFDM symbol stream.
  • IFFT Inverse Fast Fourier Transform
  • the OFDM stream is spatially precoded to produce multiple spatial streams.
  • Channel estimates from a channel estimator 874 may be used to determine the coding and modulation scheme, as well as for spatial processing.
  • the channel estimate may be derived from a reference signal and/or channel condition feedback transmitted by the UE 850.
  • Each spatial stream may then be provided to a different antenna 820 via a separate transmitter 818TX.
  • Each transmitter 818TX may modulate an RF carrier with a respective spatial stream for transmission.
  • each receiver 854RX receives a signal through its respective antenna 852.
  • Each receiver 854RX recovers information modulated onto an RF carrier and provides the information to the receive (RX) processor 856.
  • the TX processor 868 and the RX processor 856 implement layer 1 functionality associated with various signal processing functions.
  • the RX processor 856 may perform spatial processing on the information to recover any spatial streams destined for the UE 850. If multiple spatial streams are destined for the UE 850, they may be combined by the RX processor 856 into a single OFDM symbol stream.
  • the RX processor 856 then converts the OFDM symbol stream from the time-domain to the frequency domain using a Fast Fourier Transform (FFT).
  • FFT Fast Fourier Transform
  • the frequency domain signal includes a separate OFDM symbol stream for each subcarrier of the OFDM signal.
  • the symbols on each subcarrier, and the reference signal, are recovered and demodulated by determining the most likely signal constellation points transmitted by the base station 810. These soft decisions may be based on channel estimates computed by the channel estimator 858.
  • the soft decisions are then decoded and deinterleaved to recover the data and control signals that were originally transmitted by the base station 810 on the physical channel.
  • the data and control signals are then provided to the controller/processor 859, which implements layer 3 and layer 2 functionality.
  • the controller/processor 859 can be associated with a memory 860 that stores program codes and data.
  • the memory 860 may be referred to as a computer-readable medium.
  • the controller/processor 859 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, and control signal processing to recover IP packets from the EPC 160.
  • the controller/processor 859 is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations.
  • the controller/processor 859 provides RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting; PDCP layer functionality associated with header compression / decompression, and security (ciphering, deciphering, integrity protection, integrity verification); RLC layer functionality associated with the transfer of upper layer PDUs, error correction through ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction through HARQ, priority handling, and logical channel prioritization.
  • RRC layer functionality associated with system information (e.g., MIB, SIBs) acquisition, RRC connections, and measurement reporting
  • PDCP layer functionality associated with header compression
  • Channel estimates derived by a channel estimator 858 from a reference signal or feedback transmitted by the base station 810 may be used by the TX processor 868 to select the appropriate coding and modulation schemes, and to facilitate spatial processing.
  • the spatial streams generated by the TX processor 868 may be provided to different antenna 852 via separate transmitters 854TX. Each transmitter 854TX may modulate an RF carrier with a respective spatial stream for transmission.
  • the UL transmission is processed at the base station 810 in a manner similar to that described in connection with the receiver function at the UE 850.
  • Each receiver 818RX receives a signal through its respective antenna 820.
  • Each receiver 818RX recovers information modulated onto an RF carrier and provides the information to a RX processor 870.
  • the controller/processor 875 can be associated with a memory 876 that stores program codes and data.
  • the memory 876 may be referred to as a computer-readable medium.
  • the controller/processor 875 provides demultiplexing between transport and logical channels, packet reassembly, deciphering, header decompression, control signal processing to recover IP packets from the UE 850. IP packets from the controller/processor 875 may be provided to the EPC 160.
  • the controller/processor 875 is also responsible for error detection using an ACK and/or NACK protocol to support HARQ operations.
  • At least one of the TX processor 868, the RX processor 856, and the controller / processor 859 may be configured to perform aspects described herein in connection with occupancy grid reporting component 140 in the UE 104 of FIG. 1.
  • At least one of the TX processor 816, the RX processor 870, and the controller / processor 875 may be configured to perform aspects described herein in connection with occupancy grid aggregation component 198 in the network entity 102 of FIG. 1.
  • an example of disaggregated base station 900 architecture includes one or more components that may act as a network device as described herein.
  • the disaggregated base station 900 architecture may include one or more central units (CUs) 910 that can communicate directly with a core network 920 via a backhaul link, or indirectly with the core network 920 through one or more disaggregated base station units (such as a Near-Real Time (Near-RT) RAN Intelligent Controller (RIC) 925 via an E2 link, or a Non-Real Time (Non-RT) RIC 915 associated with a Service Management and Orchestration (SMO) Framework 905, or both).
  • a CU 910 may communicate with one or more distributed units (DUs) 930 via respective midhaul links, such as an Fl interface.
  • the DUs 930 may communicate with one or more radio units (RUs) 940 via respective fronthaul links.
  • the RUs 940 may communicate with respective UEs 104 via one or more radio frequency (RF) access links.
  • RF radio frequency
  • Each of the units may include one or more interfaces or be coupled to one or more interfaces configured to receive or transmit signals, data, or information (collectively, signals) via a wired or wireless transmission medium.
  • Each of the units, or an associated processor or controller providing instructions to the communication interfaces of the units can be configured to communicate with one or more of the other units via the transmission medium.
  • the units can include a wired interface configured to receive or transmit signals over a wired transmission medium to one or more of the other units.
  • the units can include a wireless interface, which may include a receiver, a transmitter or transceiver (such as a radio frequency (RF) transceiver), configured to receive or transmit signals, or both, over a wireless transmission medium to one or more of the other units.
  • a wireless interface which may include a receiver, a transmitter or transceiver (such as a radio frequency (RF) transceiver), configured to receive or transmit signals, or both, over a wireless transmission medium to one or more of the other units.
  • RF radio frequency
  • the CU 910 may host one or more higher layer control functions. Such control functions can include radio resource control (RRC), packet data convergence protocol (PDCP), service data adaptation protocol (SDAP), or the like. Each control function can be implemented with an interface configured to communicate signals with other control functions hosted by the CU 910.
  • the CU 910 may be configured to handle user plane functionality (i.e., Central Unit - User Plane (CU-UP)), control plane functionality (i.e., Central Unit - Control Plane (CU-CP)), or a combination thereof.
  • the CU 910 can be logically split into one or more CU-UP units and one or more CU-CP units.
  • the CU-UP unit can communicate bidirectionally with the CU-CP unit via an interface, such as the El interface when implemented in an 0-RAN configuration.
  • the CU 910 can be implemented to communicate with the DU 930, as necessary, for network control and signaling.
  • the DU 930 may correspond to a logical unit that includes one or more base station functions to control the operation of one or more RUs 940.
  • the DU 930 may host one or more of a radio link control (RLC) layer, a medium access control (MAC) layer, and one or more high physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, or the like) depending, at least in part, on a functional split, such as those defined by the third Generation Partnership Project (3GPP).
  • the DU 930 may further host one or more low PHY layers. Each layer (or module) can be implemented with an interface configured to communicate signals with other layers (and modules) hosted by the DU 930, or with the control functions hosted by the CU 910.
  • Lower-layer functionality can be implemented by one or more RUs 940.
  • an RU 940 controlled by a DU 930, may correspond to a logical node that hosts RF processing functions, or low-PHY layer functions (such as performing fast Fourier transform (FFT), inverse FFT (iFFT), digital beamforming, physical random access channel (PRACH) extraction and filtering, or the like), or both, based at least in part on the functional split, such as a lower layer functional split.
  • the RU(s) 940 can be implemented to handle over the air (OTA) communication with one or more UEs 104.
  • OTA over the air
  • real-time and non-real-time aspects of control and user plane communication with the RU(s) 940 can be controlled by the corresponding DU 930.
  • this configuration can enable the DU(s) 930 and the CU 910 to be implemented in a cloud-based RAN architecture, such as a vRAN architecture.
  • the SMO Framework 905 may be configured to support RAN deployment and provisioning of non-virtualized and virtualized network elements.
  • the SMO Framework 905 may be configured to support the deployment of dedicated physical resources for RAN coverage requirements which may be managed via an operations and maintenance interface (such as an 01 interface).
  • the SMO Framework 905 may be configured to interact with a cloud computing platform (such as an open cloud (O- Cloud) 990) to perform network element life cycle management (such as to instantiate virtualized network elements) via a cloud computing platform interface (such as an 02 interface).
  • a cloud computing platform such as an open cloud (O- Cloud) 990
  • network element life cycle management such as to instantiate virtualized network elements
  • Such virtualized network elements can include, but are not limited to, CUs 910, DUs 930, RUs 940 and Near-RT RICs 925.
  • the SMO Framework 905 can communicate with a hardware aspect of a 4G RAN, such as an open eNB (O-eNB) 911, via an 01 interface. Additionally, in some implementations, the SMO Framework 905 can communicate directly with one or more RUs 940 via an 01 interface.
  • the SMO Framework 905 also may include a Non-RT RIC 915 configured to support functionality of the SMO Framework 905.
  • the Non-RT RIC 915 may be configured to include a logical function that enables non-real-time control and optimization of RAN elements and resources, Artificial Intelligence/Machine Learning (AI/ML) workflows including model training and updates, or policy -based guidance of applications/features in the Near-RT RIC 925.
  • the Non-RT RIC 915 may be coupled to or communicate with (such as via an Al interface) the Near-RT RIC 925.
  • the Near-RT RIC 925 may be configured to include a logical function that enables near-real-time control and optimization of RAN elements and resources via data collection and actions over an interface (such as via an E2 interface) connecting one or more CUs 910, one or more DUs 930, or both, as well as an O-eNB, with the Near-RT RIC 925.
  • the Non-RT RIC 915 may receive parameters or external enrichment information from external servers. Such information may be utilized by the Near-RT RIC 925 and may be received at the SMO Framework 905 or the Non-RT RIC 915 from non-network data sources or from network functions. In some examples, the Non-RT RIC 915 or the Near-RT RIC 925 may be configured to tune RAN behavior or performance. For example, the Non-RT RIC 915 may monitor long-term trends and patterns for performance and employ AI/ML models to perform corrective actions through the SMO Framework 905 (such as reconfiguration via 01) or via creation of RAN management policies (such as Al policies).
  • SMO Framework 905 such as reconfiguration via 01
  • RAN management policies such as Al policies
  • the UE 104 may perform a method 1100 of wireless communication, by such as via execution of occupancy grid reporting component 140 by processor 1002 and / or memory 1004.
  • the processor 1002 may include at least one of the TX processor 868, the RX processor 856, and the controller/processor 859 described above.
  • the method 1100 includes generating occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no object being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors.
  • UE 104, processor 1002, memory 1004, occupancy grid reporting component 140, and/or generating component 1006 may be configured to or may comprise means for generating occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no obj ect being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors.
  • the generating at block 1102 may include a UE 104 generating occupancy information (e.g., the values in the occupancy matrix 504) based on one or more signals captured by one or more sensors 308 configured to detect a presence of one or more objects (e.g., a vehicle 512) in an area 510 that is divided by an occupancy grid 502 into multiple cells. For each cell of the occupancy grid 502, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable. The occupancy information indicates that the cell is occupied responsive to an object (e.g., a vehicle 512) being detected in the cell by the one or more sensors 308.
  • occupancy information e.g., the values in the occupancy matrix 504
  • the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable.
  • the occupancy information indicates that the cell is occupied responsive to an object (e.g., a vehicle 512) being detected in the cell by the one or more sensors 308.
  • the occupancy information indicates that the cell is unoccupied responsive to no object being detected in the cell.
  • the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the sensors 308 of the UE 104 (e.g., due to limited field-of-view, limited range, occlusion by other objects / UEs, etc.).
  • the method 1100 includes transmitting, to a network entity, one or more signals indicative of the occupancy information.
  • UE 104, processor 1002, memory 1004, occupancy grid reporting component 140, and/or transmitting component 1008 may be configured to or may comprise means for transmitting, to a network entity, one or more signals indicative of the occupancy information.
  • the transmitting at block 1104 may include the UE 104 transmitting, to a network entity 102, one or more signals indicative of the occupancy information generated by the UE 104 at block 1102.
  • the occupancy information comprises an occupancy matrix 504 that includes multiple elements for each cell of the occupancy grid 502 (e.g., the pair of elements 514 for the cell 0 of the occupancy grid 502), wherein for the cell of the occupancy grid 502, corresponding elements of the occupancy matrix 504 jointly indicate whether the cell is occupied, unoccupied, or unobservable, wherein the one or more signals are indicative of the occupancy matrix 504.
  • the pair of elements associated with the cell 6 has a value of (0, A) indicating that this cell is occupied (same goes with the cell 7 that is also occupied).
  • the pair of elements associated with the cell 0 has a value of (A, 0) indicating that this cell is unoccupied (same goes with the cells 1, 3, and 4 that are also unoccupied). Also, the pair of elements associated with the cell 2 has a value of (0, 0) indicating that this cell is unobservable (same goes with the cells 5 and 8 that are also unobservable).
  • each element of the occupancy matrix 504 is associated with a unique resource element out of a set of resource elements associated with the occupancy matrix 504.
  • transmitting the one or more signals comprises transmitting a signal over a corresponding resource element out of the set of resource elements.
  • an amplitude and a phase of the signal are proportional, respectively, to an amplitude and a phase of the element of the occupancy matrix 504.
  • the set of resource elements are configured in common for a set of UEs including the UE 104, wherein an aggregated occupancy grid of the area (e.g., the second aggregated occupancy grid 406) is determinable based on an aggregation of the one or more signals with one or more other signals transmitted over the set of resource elements by one or more other UEs in the set of UEs, wherein the one or more other signals are indicative of one or more respective occupancy matrices generated by respective ones of the one or more other UEs.
  • an aggregated occupancy grid of the area e.g., the second aggregated occupancy grid 406
  • the one or more other signals are indicative of one or more respective occupancy matrices generated by respective ones of the one or more other UEs.
  • the corresponding elements include a first element having a first value and a second element having a second value, wherein the first value and the second value jointly indicate whether the cell is occupied, unoccupied, or unobservable. For example, referring to FIG. 5, for the cell 0 in the occupancy grid 502, the values of the pair of elements 514 is (0,0), jointly indicating that this cell is unoccupied.
  • the corresponding elements include a first element having a first value, a second element having a second value, and a third element having a third value, wherein the first value indicates whether the cell is occupied, wherein the second value indicates whether the cell is unoccupied, wherein the third value indicates whether the cell is unobservable.
  • the values of the trio of elements 704 is (0,0,0), jointly indicating that the cell 0 is unoccupied.
  • the method 1100 may further include receiving an occupancy signal indicating an aggregated occupancy grid for the area, wherein the aggregated occupancy grid is based at least in part on the one or more signals.
  • UE 104, processor 1002, memory 1004, occupancy grid reporting component 140, and/or receiving component 1010 may be configured to or may comprise means for receiving an occupancy signal indicating an aggregated occupancy grid for the area, wherein the aggregated occupancy grid is based at least in part on the one or more signals.
  • the receiving at block 1106 may include the UE 104 receiving, from the network entity 102, an occupancy signal indicating an aggregated occupancy grid for the area (e.g., the second aggregated occupancy grid 406), wherein the aggregated occupancy grid is based at least in part on the one or more signals transmitted by the UE 104 to the network entity 102.
  • an occupancy signal indicating an aggregated occupancy grid for the area (e.g., the second aggregated occupancy grid 406), wherein the aggregated occupancy grid is based at least in part on the one or more signals transmitted by the UE 104 to the network entity 102.
  • the method 1100 may further include receiving a signal associated with assisted driving in the area, wherein the signal is based on an aggregated occupancy grid that is based at least in part on the one or more signals.
  • UE 104, processor 1002, memory 1004, occupancy grid reporting component 140, and/or receiving component 1010 may be configured to or may comprise means for receiving a signal associated with assisted driving in the area, wherein the signal is based on an aggregated occupancy grid that is based at least in part on the one or more signals.
  • the receiving at block 1108 may include the UE 104 receiving, from the network entity 102, a signal associated with assisted driving in the area, wherein the signal is based on an aggregated occupancy grid (e.g., the second aggregated occupancy grid 406) that is based at least in part on the one or more signals transmitted by the UE 104 to the network entity 102.
  • an aggregated occupancy grid e.g., the second aggregated occupancy grid 406
  • the network entity 102 may perform a method 1300 of wireless communication, by such as via execution of occupancy grid aggregation component 198 by processor 1202 and / or memory 1204.
  • the processor 1202 may include at least one of the TX processor 816, the RX processor 870, and the controller/processor 875 described above.
  • the method 1300 includes receiving one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE in the one or more UEs, respective occupancy information associated with that UE is indicative of an occupancy grid as observed by one or more sensors of that UE, wherein the occupancy grid divides an area into a number of cells, wherein for a cell of the occupancy grid, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable, wherein the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unobservable responsive to the cell being identifiable neither as occupied nor as unoccupied.
  • UEs user equipments
  • network entity 102, processor 1202, memory 1204, occupancy grid aggregation component 198, and/or receiving component 1206 may be configured to or may comprise means for receiving one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE in the one or more UEs, respective occupancy information associated with that UE is indicative of an occupancy grid as observed by one or more sensors of that UE, wherein the occupancy grid divides an area into a number of cells, wherein for a cell of the occupancy grid, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable, wherein the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unobservable responsive
  • UEs user
  • the receiving at block 1302 may include a network entity 102 receiving one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE 104 in the one or more UEs, respective occupancy information (e.g., the values in the occupancy matrix 504 generated by the UE 104 in FIG. 5) associated with that UE 104 is indicative of an occupancy grid 502 as observed by one or more sensors 308 of that UE 104, wherein the occupancy grid 502 divides an area 510 into a number of cells.
  • UEs user equipments
  • each one of the one or more UEs may generate occupancy information that indicates whether the cell is occupied, unoccupied, or unobservable, and may then transmit signals indicative of such occupancy information using REs that are configured in common for all of the participating UEs for OTA aggregation. Accordingly, once signals indicative of occupancy information of each UE are transmitted by the UEs, OTA-aggregated, and received by the network entity 102, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable.
  • the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object (e.g., the vehicle 512) being detectable in the cell by one or more of the UEs, is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell by one or more of the UEs, and is configurable to indicate that the cell is unobservable responsive to the cell being identifiable neither as occupied nor as unoccupied by one or more of the UEs.
  • an object e.g., the vehicle 512
  • the method 1300 includes recovering an aggregated occupancy grid of the area from the one or more aggregated signals, wherein the aggregated occupancy grid represents an aggregation of the occupancy grid as collectively observed by the one or more UEs.
  • network entity 102, processor 1202, memory 1204, occupancy grid aggregation component 198, and/or recovering component 1210 may be configured to or may comprise means for recovering an aggregated occupancy grid of the area from the one or more aggregated signals, wherein the aggregated occupancy grid represents an aggregation of the occupancy grid as collectively observed by the one or more UEs.
  • the recovering at block 1304 may include the network entity 102 recovering an aggregated occupancy grid of the area (e.g., the second aggregated occupancy grid 406 in FIG. 4C) from the one or more aggregated signals, wherein the aggregated occupancy grid represents an aggregation of the occupancy grid as collectively observed by the one or more UEs 104.
  • the network entity 102 recovering an aggregated occupancy grid of the area (e.g., the second aggregated occupancy grid 406 in FIG. 4C) from the one or more aggregated signals, wherein the aggregated occupancy grid represents an aggregation of the occupancy grid as collectively observed by the one or more UEs 104.
  • the aggregation of occupancy information comprises an aggregated occupancy matrix that is representative of an aggregation of one or more occupancy matrices of the one or more UEs, wherein each of the one or more occupancy matrices is indicative of the occupancy grid as observed by one or more sensors of a respective UE (e.g., the occupancy matrix 504 generated by the UE 104 in FIG. 5), wherein each cell of the occupancy grid is associated with multiple elements in the aggregated occupancy matrix (e.g., each cell is associated with two elements in FIG.
  • corresponding elements of the aggregated occupancy matrix are configurable to jointly indicate whether the cell is occupied, unoccupied, or unobservable (e.g., the value (0, 0) in the pair of elements 514 associated with the cell 0 indicates that this cell is unoccupied).
  • each element of the aggregation of one or more occupancy matrices is associated with a unique resource element out of a set of resource elements associated with the aggregated occupancy matrix.
  • receiving the one or more aggregated signals comprises receiving an aggregated signal over a corresponding resource element out of the set of resource elements.
  • the set of resource elements are configured in common for the one or more UEs. This allows for OTA-aggregation of signals transmitted by the UEs.
  • the corresponding elements include a first element and a second element that are associated with the cell of the occupancy grid, wherein receiving the one or more aggregated signals at block 1302 comprises receiving a first aggregated signal over a first resource element associated with the first element that is associated with the cell; and receiving a second aggregated signal over a second resource element associated with the second element that is associated with the cell.
  • two elements are configured in the occupancy matrix 504 generated by each of the participating UEs 104 for each cell of the occupancy grid 502.
  • the network entity 102 may receive a first OTA-aggregated signal over a first RE configured for a first element associated with that cell, and may receive a second OTA-aggregated signal over a second RE configured for a second element associated with that cell.
  • recovering the aggregated occupancy grid at block 1304 comprises determining, based on energies of the first aggregated signal and the second aggregated signal, whether the cell is occupied, unoccupied, or unobservable.
  • the network entity 102 may determine an occupancy status of a cell based on the energies of the OTA-aggregated signals received over the two REs associated with that cell.
  • determining whether the cell is occupied, unoccupied, or unobservable comprises mapping an energy of the first aggregated signal and the second aggregated signal to a two dimensional space that is divided into three decision regions corresponding to the cell being occupied, unoccupied, and unobservable.
  • the network entity 102 may determine an occupancy status of a cell based on mapping the energies of the OTA-aggregated signals received over the REs associated with that cell onto a decision plane (e.g., 602 in FIG. 6A, or 604 in FIG. 6B) that defines three decision regions corresponding to the cell being occupied, free, or unobserved.
  • a decision plane e.g., 602 in FIG. 6A, or 604 in FIG. 6B
  • the corresponding elements include a first element, a second element, and a third element that are associated with the cell of the occupancy grid
  • receiving the one or more aggregated signals at block 1302 comprises receiving a first aggregated signal over a first resource element associated with the first element that is associated with the cell; receiving a second aggregated signal over a second resource element associated with the second element that is associated with the cell; and receiving a third aggregated signal over a third resource element associated with the third element that is associated with the cell.
  • three elements are configured in the occupancy matrix 702 generated by each of the participating UEs 104 for each cell of the occupancy grid 502.
  • the network entity 102 may receive a first OTA-aggregated signal over a first RE configured for a first element associated with that cell, may receive a second OTA-aggregated signal over a second RE configured for a second element associated with that cell, and may receive a third OTA-aggregated signal over a third RE configured for a third element associated with that cell.
  • wherein recovering the aggregated occupancy grid at block 1304 comprises determining, based on energies of the first aggregated signal, the second aggregated signal, and the third aggregated signal, whether the cell is occupied, unoccupied, or unobservable.
  • the network entity 102 may determine an occupancy status of a cell based on the energies of the OTA-aggregated signals received over the three REs associated with that cell.
  • determining whether the cell is occupied, unoccupied, or unobservable comprises determining whether the cell is occupied based on a first energy of the first aggregated signal; determining whether the cell is unoccupied based on a second energy of the second aggregated signal; and determining whether the cell is unobservable based on a third energy of the third aggregated signal.
  • the method 1300 may include transmitting an occupancy signal indicating the aggregated occupancy grid for the area.
  • network entity 102, processor 1202, memory 1204, occupancy grid aggregation component 198, and/or transmitting component 1210 may be configured to or may comprise means for transmitting an occupancy signal indicating the aggregated occupancy grid for the area.
  • the transmitting at block 1306 may include the network entity 102 transmitting an occupancy signal indicating the aggregated occupancy grid for the area (e.g., indicating the second aggregated occupancy grid 406 in FIG. 4C).
  • the method 1300 may include transmitting a signal associated with assisted driving in the area, wherein the signal is based on the aggregated occupancy grid of the area.
  • network entity 102, processor 1202, memory 1204, occupancy grid aggregation component 198, and/or transmitting component 1210 may be configured to or may comprise means for transmitting a signal associated with assisted driving in the area, wherein the signal is based on the aggregated occupancy grid of the area.
  • the transmitting at block 1308 may include a network entity 102 transmitting a signal associated with assisted driving in the area, wherein the signal is based on the aggregated occupancy grid of the area (e.g., based on the second aggregated occupancy grid 406 in FIG. 4C).
  • a method of wireless communication by a user equipment comprising:
  • occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no obj ect being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors; and
  • the occupancy information comprises an occupancy matrix that includes multiple elements for each cell of the occupancy grid, wherein for the cell of the occupancy grid, corresponding elements of the occupancy matrix jointly indicate whether the cell is occupied, unoccupied, or unobservable, wherein the one or more signals are indicative of the occupancy matrix.
  • each element of the occupancy matrix is associated with a unique resource element out of a set of resource elements associated with the occupancy matrix.
  • transmitting the one or more signals comprises transmitting a signal over a corresponding resource element out of the set of resource elements.
  • a method of wireless communication by a network entity comprising:
  • the aggregation of occupancy information comprises an aggregated occupancy matrix that is representative of an aggregation of one or more occupancy matrices of the one or more UEs, wherein each of the one or more occupancy matrices is indicative of the occupancy grid as observed by one or more sensors of a respective UE, wherein each cell of the occupancy grid is associated with multiple elements in the aggregated occupancy matrix, wherein for a cell of the occupancy grid, corresponding elements of the aggregated occupancy matrix are configurable to jointly indicate whether the cell is occupied, unoccupied, or unobservable.
  • each element of the aggregation of one or more occupancy matrices is associated with a unique resource element out of a set of resource elements associated with the aggregated occupancy matrix.
  • receiving the one or more aggregated signals comprises receiving an aggregated signal over a corresponding resource element out of the set of resource elements.
  • recovering the aggregated occupancy grid comprises determining, based on energies of the first aggregated signal and the second aggregated signal, whether the cell is occupied, unoccupied, or unobservable.
  • determining whether the cell is occupied, unoccupied, or unobservable comprises mapping an energy of the first aggregated signal and the second aggregated signal to a two dimensional space that is divided into three decision regions corresponding to the cell being occupied, unoccupied, and unobservable.
  • recovering the aggregated occupancy grid comprises determining, based on energies of the first aggregated signal, the second aggregated signal, and the third aggregated signal, whether the cell is occupied, unoccupied, or unobservable.
  • a user equipment comprising:
  • a processor communicatively coupled with the memory, wherein the processor is configured to execute the instructions to:
  • [0175] generate occupancy information based on one or more signals captured by one or more sensors configured to detect a presence of one or more objects in an area that is divided by an occupancy grid into multiple cells, wherein for a cell of the occupancy grid, the occupancy information indicates whether the cell is occupied, unoccupied, or unobservable, wherein the occupancy information indicates that the cell is occupied responsive to an object being detected in the cell by the one or more sensors, wherein the occupancy information indicates that the cell is unoccupied responsive to no obj ect being detected in the cell, wherein the occupancy information indicates that the cell is unobservable responsive to the cell being outside a field-of-view of the one or more sensors; and
  • [0176] transmit, to a network entity, one or more signals indicative of the occupancy information.
  • the occupancy information comprises an occupancy matrix that includes multiple elements for each cell of the occupancy grid, wherein for the cell of the occupancy grid, corresponding elements of the occupancy matrix jointly indicate whether the cell is occupied, unoccupied, or unobservable, wherein the one or more signals are indicative of the occupancy matrix.
  • the corresponding elements include a first element having a first value and a second element having a second value, wherein the first value and the second value jointly indicate whether the cell is occupied, unoccupied, or unobservable.
  • the corresponding elements include a first element having a first value, a second element having a second value, and a third element having a third value, wherein the first value indicates whether the cell is occupied, wherein the second value indicates whether the cell is unoccupied, wherein the third value indicates whether the cell is unobservable.
  • a network entity comprising:
  • a processor communicatively coupled with the memory, wherein the processor is configured to execute the instructions to:
  • [0183] receive one or more aggregated signals indicative of an aggregation of occupancy information of one or more user equipments (UEs), wherein for each UE in the one or more UEs, respective occupancy information associated with that UE is indicative of an occupancy grid as observed by one or more sensors of that UE, wherein the occupancy grid divides an area into a number of cells, wherein for a cell of the occupancy grid, the aggregation of occupancy information is configurable to indicate whether the cell is occupied, unoccupied, or unobservable, wherein the aggregation of occupancy information is configurable to indicate that the cell is occupied responsive to an object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unoccupied responsive to no object being detectable in the cell, wherein the aggregation of occupancy information is configurable to indicate that the cell is unobservable responsive to the cell being identifiable neither as occupied nor as unoccupied; and
  • UEs user equipments
  • the aggregation of occupancy information comprises an aggregated occupancy matrix that is representative of an aggregation of one or more occupancy matrices of the one or more UEs, wherein each of the one or more occupancy matrices is indicative of the occupancy grid as observed by one or more sensors of a respective UE, wherein each cell of the occupancy grid is associated with multiple elements in the aggregated occupancy matrix, wherein for a cell of the occupancy grid, corresponding elements of the aggregated occupancy matrix are configurable to jointly indicate whether the cell is occupied, unoccupied, or unobservable.
  • each element of the aggregation of one or more occupancy matrices is associated with a unique resource element out of a set of resource elements associated with the aggregated occupancy matrix, wherein for an element of the aggregated occupancy matrix, receiving the one or more aggregated signals comprises receiving an aggregated signal over a corresponding resource element out of the set of resource elements, wherein the set of resource elements are configured in common for the one or more UEs.
  • Combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof’ include any combination of A, B, and/or C, and may include multiples of A, multiples of B, or multiples of C.
  • combinations such as “at least one of A, B, or C,” “one or more of A, B, or C,” “at least one of A, B, and C,” “one or more of A, B, and C,” and “A, B, C, or any combination thereof’ may be A only, B only, C only, A and B, A and C, B and C, or A and B and C, where any such combinations may contain one or more member or members of A, B, or C.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Des aspects de la présente divulgation comprennent des procédés, des appareils et un support lisible par ordinateur pour générer des informations d'occupation sur la base de signaux capturés par un ou plusieurs capteurs configurés pour détecter une présence d'un ou plusieurs objets dans une zone qui est divisée par une grille d'occupation en de multiples cellules, pour une cellule de la grille d'occupation, les informations d'occupation indiquant si la cellule est occupée, inoccupée ou inobservable, les informations d'occupation indiquant que la cellule est occupée en réponse à un objet détecté dans la cellule par le ou les capteurs, les informations d'occupation indiquant que la cellule n'est pas occupée en réponse à aucun objet détecté dans la cellule, les informations d'occupation indiquant que la cellule n'est pas observable en réponse à la cellule en dehors d'un champ de vision du ou des capteurs ; et transmettre, à une entité de réseau, un ou plusieurs signaux indicatifs des informations d'occupation.
PCT/US2023/082134 2022-12-22 2023-12-01 Agrégation de grille d'occupation par ondes radio avec indication de cellules occupées et libres WO2024137170A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200365029A1 (en) * 2019-05-17 2020-11-19 Ford Global Technologies, Llc Confidence map building using shared data
US20210101624A1 (en) * 2019-10-02 2021-04-08 Zoox, Inc. Collision avoidance perception system
US11513519B1 (en) * 2019-09-05 2022-11-29 Zoox, Inc. Sharing occlusion data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200365029A1 (en) * 2019-05-17 2020-11-19 Ford Global Technologies, Llc Confidence map building using shared data
US11513519B1 (en) * 2019-09-05 2022-11-29 Zoox, Inc. Sharing occlusion data
US20210101624A1 (en) * 2019-10-02 2021-04-08 Zoox, Inc. Collision avoidance perception system

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