TWI771923B - Method and apparatus for radar modulations - Google Patents

Abstract

Techniques and apparatuses are described that enable radar modulations for radar sensing using a wireless communication chipset. A controller initializes or controls modulations performed by the wireless communication chipset. In this way, the controller can enable the wireless communication chipset to perform modulations for wireless communication or radar sensing. In some cases, the controller can further select a wireless communication channel for setting a frequency and a bandwidth of a radar signal, thereby avoiding interference between multiple radar signals or between the radar signal and a communication signal. In other cases, the controller can cause the wireless communication chipset to modulate a signal containing communication data using a radar modulation. This enables another device that receives the signal to perform wireless communication or radar sensing. By utilizing these techniques, the wireless communication chipset can be used for wireless communication or radar sensing.

Description

Method and apparatus for radar modulation

Radar is a useful device for detecting and tracking objects, mapping surfaces, and identifying targets. In many cases, a radar can replace bulky and expensive sensors (such as a camera) and provide improved performance in the presence of different environmental conditions (such as low lighting and fog) or with moving or overlapping targets.

While the use of radar sensing can be advantageous, there are a number of challenges associated with incorporating radar sensors into commercial devices. For example, smaller consumer devices place a limit on the size of one of the radar sensors, which can limit performance. In addition, conventional radars use custom-designed radar-specific hardware to generate radar-specific signals. This hardware can be expensive and requires additional space in consumer devices if incorporated. Therefore, consumer devices are unlikely to incorporate radar sensors due to additional cost and space constraints.

This disclosure describes techniques and apparatus for implementing radar modulation for radar sensing using a wireless communication chipset. A controller initiates or controls modulation performed by the wireless communication chipset. In this way, the controller may enable the wireless communication chipset to perform modulation for wireless communication or radar sensing. In some cases, the controller may further choose to set a radar signal A wireless communication channel of a frequency and a bandwidth, thereby avoiding interference between a plurality of radar signals or between the radar signal and a communication signal. In other cases, the controller may cause the wireless communication chipset to modulate communication data onto the radar signal. This enables another device receiving the signal to perform wireless communication or radar sensing. By utilizing these technologies, the wireless communication chipset can be used for wireless communication or radar sensing.

Aspects described below include a wireless communication chipset, a processor, and a computer-readable storage medium including computer-executable instructions responsive to execution by the processor to implement a controller. The wireless communication chip set includes in-phase and quadrature modulators. The wireless communication chipset is configured to modulate a signal based on a modulation type via the in-phase and quadrature modulators. The controller is configured to select the modulation type to enable detection of a target reflecting the signal.

The aspects described below also include a method of selecting a first modulation type to enable a position of a target to be determined. The method includes selecting a second modulation type to enable communication data to be communicated wirelessly. The method also includes modulating, via a wireless communication chipset, a signal based on the first modulation type to generate a radar signal. Additionally, the method includes modulating, via the wireless communication chipset, another signal based on the second modulation type to generate a communication signal. The method further includes controlling the transmission of the radar signal and the communication signal to enable radar sensing and wireless communication via the wireless communication chipset.

The aspects described below also include a system having means for controlling a wireless communication chipset to generate a radar signal for radar sensing and for selecting a modulation type to be performed by the wireless communication chipset A component to support radar sensing or wireless communication.

100: Environment

102: Computing device

102-1: Desktop Computers

102-2: Tablet PC

102-3: Laptops

102-4: Television

102-5: Computing watch

102-6: Computing Glasses

102-7: Game System

102-8: Microwave oven

102-9: Vehicles

104: Wireless Communication Chipset

104-1: The first wireless communication chipset

104-2: Second Wireless Communication Chipset

104-3: The third wireless communication chipset

106: Base Station

108: Wireless Communication Links/Wireless Links

108-1: Wireless Link

108-2: Wireless Link

108-3: Wireless Link

110-1: Masking Gesture Recognition Application

110-2: Gesture Recognition Application

110-3: Medical Diagnostic Applications

110-4: Mapping Applications

200: Environment

202: Smartphone

204: Smart Refrigerator

206-1: Radar Field

206-2: Radar Field

206-3: Radar Field

302: Network Interface

304: Computer processor

306: Computer-readable media

308: Radar-based applications

310: Controller

402: Communication interface

404: Antenna

404-1 to 404-NM: Antenna

406: Transceiver

406-1 to 406-NM: Transceivers

408: System Processor

410: System Media

416: full duplex operation

418: Digital Beamformers

420: Radar Modulator

502-1 to 502-NM: Transmitter

504-1 to 504-NM: Receivers

506-1 to 506-NM: Switch

508: Duplex operation signal

602-1: Transmit Radar Signal

602-2: Reflected Radar Signal

604: Target

606: Charts

608: Charts

610-1 to 610-P: Transmit Pulse

612-1: Reflected Pulse

612-2: Reflected Pulse

702-1 to 702-N: Baseband Information

704-1 to 704-N: Composite Weights

706:Total

708: Space Response

802: Antenna Array

802-1: Transmitting Antenna Array

802-2: Receive Antenna Array

902: I/Q Modulator

904: I/Q demodulator

906: Modulation operation signal

1000-1 to 1000-N: Signal

1100: Method

1102: Steps

1104: Steps

1106: Steps

1108: Steps

1110: Steps

1200: Method

1202: Steps

1204: Steps

1206: Steps

1208: Steps

1210: Steps

1300: Method

1302: Steps

1304: Steps

1306: Steps

1308: Steps

1310: Steps

1400: Computing Systems

1402: Communication Devices

1404: Device Information

1406: Data input

1408: Communication interface

1410: Processor

1412: Processing and Control Circuits

1414: Computer-readable media

1416: Mass Storage Media Device/Storage Media

1418: Device Application

1420: Operating System

Devices and techniques for implementing radar modulation for radar sensing using a wireless communication chipset are described with reference to the following figures. The same numbers are used throughout the drawings to refer to the same features and components: FIG. 1 shows an exemplary environment in which radar sensing using a wireless communication chipset is described.

2 illustrates an exemplary environment in which multiple communication devices perform wireless communication and radar sensing.

FIG. 3 shows an exemplary computing device.

FIG. 4 illustrates an exemplary wireless communication chipset.

5 shows an exemplary communication device for full duplex operation.

Figure 6-1 illustrates full-duplex operation of a wireless communication chipset for CW radar.

Figure 6-2 illustrates full duplex operation of a wireless communication chipset for a pulsed Doppler radar.

7 illustrates an exemplary digital beamformer and wireless communication chipset for digital beamforming.

8-1 illustrates an exemplary wireless communication chipset for digital beamforming.

8-2 illustrate another exemplary wireless communication chipset for digital beamforming.

9 shows an exemplary radar modulator and wireless communication chipset for radar modulation.

10 shows an exemplary communication device that performs wireless communication and radar sensing.

11 illustrates an exemplary method for performing full-duplex operation for radar sensing using a wireless communication chipset.

12 shows an exemplary method for performing digital beamforming for radar sensing using a wireless communication chipset.

13 shows an exemplary method for performing radar modulation for radar sensing using a wireless communication chipset.

14 illustrates an exemplary computing system embodying a wireless communication chipset for radar sensing or in which techniques for enabling the use of a wireless communication chipset for radar sensing may be implemented.

Cross-references to related applications

This application claims the benefit of US Provisional Application No. 62/512,961, filed May 31, 2017, which is hereby incorporated by reference in its entirety.

Overview

While many computing devices may not have radar sensors, such computing devices may benefit from radar sensing. For example, radar sensing can enhance user interfaces through gesture recognition, power saving techniques through proximity detection, and the like.

However, a computing device may include a wireless communication chipset that enables a user to chat with friends, download information, share images, remotely control home devices, receive global positioning information, or listen to radio stations. Although used to transmit and receive wireless communication signals, the wireless communication chipset includes many similar components as a radar sensor, such as an antenna, a transceiver, and a processor. Furthermore, the frequencies used for wireless communication may be similar to those used for radar sensing (eg, S-band, C-band, X-band, millimeter-wave frequencies, etc.).

However, wireless communication chipsets are typically designed for wireless communication rather than radar sensing. For example, wireless communication chipsets may be configured to use time-division duplexing techniques to switch between transmitting and receiving communication signals, which may not facilitate detection of close-range targets for radar sensing. Additionally, wireless communication chipsets may be configured to utilize a single transmit or receive chain, which may not facilitate determining the angular position of targets for radar sensing. In addition, wireless communication chipsets may be configured to utilize communication modulation, which may not facilitate determining distance and Doppler of targets for radar sensing.

Thus, this document describes techniques and apparatus for implementing radar sensing techniques using wireless communication chipsets. The technology utilizes a controller that enables the wireless communication chipset to transmit and receive radar signals in addition to or instead of wireless communication signals. In particular, control The controller can cause wireless communication chipsets to perform full-duplex operation, support digital beamforming, or generate radar modulation.

Full-duplex operation enables transmission and reception to occur within the same portion of time, thereby enabling the use of continuous wave radar or pulsed Doppler radar technology. Digital beamforming enables customized beam steering and shaping to determine an angular position of the target. Using digital beamforming technology, various radar fields can be transmitted or received by wireless communication chipsets. Radar modulation enables a radar signal to be transmitted and received by a wireless communication chipset, thereby supporting frequency modulation (FM) ranging or Doppler sensing techniques for radar sensing.

Using these technologies, wireless communication chipsets can be used in radar-based applications that detect the presence of a user, track user gestures for touchless control, provide collision avoidance for autonomous driving, and more. Depending on one of the purposes of the computing device, the wireless communication chipset can be repurposed for radar sensing or to provide both wireless communication and radar sensing. Thus, computing devices including wireless communication chipsets can utilize and benefit from radar sensing without the use of a radar sensor or radar specific hardware. Furthermore, some techniques may be customized or optimized for various different wireless communication chipsets with different configurations. Making radar sensing affordable and available to many computing devices may further enable multiple computing devices to implement active, passive, or two-state radar technology. The document now turns to an exemplary environment, after which exemplary apparatuses, exemplary methods, and an exemplary computing system are described.

exemplary environment

1 is an illustration of an exemplary environment 100 in which techniques for using radar sensing using a wireless communication chipset and an apparatus including radar sensing using a wireless communication chipset may be embodied. The environment 100 includes a computing device 102 that includes a wireless communication chipset 104 to communicate with a base station 106 through a wireless communication link 108 (wireless link 108). here In an example, the computing device 102 is implemented as a smart phone. However, computing device 102 may be implemented as any suitable computing or electronic device, as described in further detail with respect to FIGS. 2 and 3 .

Base station 106 communicates with computing device 102 via wireless link 108, which may be implemented as any suitable type of wireless link. Although depicted as a tower of a cellular network, base station 106 may represent or be implemented as another device, such as a satellite, cable headend, terrestrial television broadcast tower, access point, peer-to-peer device, network network nodes, Internet of Things (IoT) devices, and more. Accordingly, computing device 102 may communicate with base station 106 or another device via wireless link 108 .

Wireless link 108 may include a downlink for data or control information communicated from base station 106 to computing device 102 or an uplink for other data or control information communicated from computing device 102 to base station 106 . Wireless link 108 may be implemented using any suitable communication protocol or standard, including those used for cellular networks (eg, 3rd Generation Partnership Project Long Term Evolution (3GPP LTE) or 5th Generation ( 5G)), IEEE 802.11 (eg, 802.11n/ac/ad/g/a/b), Wi-Fi, WiGig ^™ , WiMAX ^™ , Bluetooth ^™ , multiple-input multiple-output (MIMO) networks, and the like.

Instead of having a radar sensor, the computing device 102 utilizes the wireless communication chipset 104 for radar sensing. As shown in FIG. 1, exemplary radar sensing applications include an occlusion gesture recognition application 110-1 that enables computing device 102 to be carried in a purse to detect actions performed outside the purse out gesture. Another gesture recognition application 110-2 enables computing device 102 (shown as a wearable smart watch) to provide a radar field (shown as a dashed cube) in which a user can gesture to communicate with The computing device 102 interacts. An exemplary medical diagnostic application 110-3 enables computing device 102 to measure a user's physiology or to assess abnormal body movements, such as a facial twitch. These measurements can help diagnose a variety of conditions (eg, a stroke or symptoms of Parkinson's disease). An exemplary mapping application 110-4 enables computing device 102 to generate a three-dimensional map of a surrounding environment for contextual awareness. Using the wireless communication chipset 104 , the computing device 102 may implement active or passive radar sensing techniques, as described in further detail with respect to FIG. 2 .

FIG. 2 depicts an exemplary environment 200 in which multiple communication devices 102 perform wireless communication and radar sensing. Computing devices 102 in environment 200 include computing device 102 of FIG. 1 , a smart phone 202 , and a smart refrigerator 204 , each of which includes a wireless communication chipset 104 . Using the wireless communication chipset 104, the computing device 102 and the smart phone 202 communicate with the base station 106 via the wireless link 108-1 and the wireless link 108-2, respectively. Likewise, smart refrigerator 204 communicates with computing device 102 via wireless link 108-3.

In addition to transmitting and receiving communication signals over wireless link 108, each of these devices may also perform radar sensing. Using wireless communication chipset 104, computing device 102, smart phone 202, and smart refrigerator can communicate with each other by transmitting and receiving their own radar signals (shown by radar fields 206-1, 206-2, and 206-3, respectively). Operates as a single-state radar.

In environments where more than one computing device 102 is present, such as in environment 200, multiple computing devices 102 can work together to implement a two-state radar, a multi-state radar, or a networked radar. In other words, one or more computing devices 102 may transmit radar signals and one or more other computing devices 102 may receive radar signals. For cooperative radar sensing, computing device 102 may be synchronized in time using atomic clocks, global positioning system (GPS) time, cellular synchronization, wireless communications, and the like.

In some cases, radar sensing operations may be assigned among computing devices 102 according to the capabilities and location of each device. For example, a device with a highest transmit power or a wider field of view, for example, can be used to transmit radar signals. Radar data collected through cooperative or non-cooperative techniques can also be shared across all computing devices 102, which can improve detection probability, target location accuracy, target Tracking and target orientation and shape estimation. Radar data provided by multiple computing devices 102 may also be used to reduce false alarms, perform triangulation, or support interferometry.

Using multiple computing devices 102 for radar sensing enables a large portion of a surrounding environment to be illuminated and enables laser data to be collected from different angles. The time or power cost associated with radar sensing may also be distributed across multiple computing devices 102, thereby enabling computing devices 102 with limited resources to perform radar sensing.

In more detail, consider FIG. 3 , which shows wireless communication chipset 104 as part of computing device 102 . Computing device 102 is shown as having various non-limiting exemplary devices including a desktop computer 102-1, a tablet computer 102-2, a laptop computer 102-3, a television 102-4 , a computing watch 102-5, computing glasses 102-6, a game system 102-7, a microwave oven 102-8 and a vehicle 102-9. Other devices such as wireless routers, drones, touchpads, drawing tablets, small notebooks, e-readers, home automation and control systems, and other household appliances may also be used. It should be noted that the computing device 102 may be wearable, non-wearable but portable, or relatively stationary (eg, desktop computers and appliances).

Computing device 102 may include a network interface 302 for communicating data over wired, wireless, or optical networks. For example, the network interface 302 can be via a local area network (LAN), a wireless local area network (WLAN), a personal area network (PAN), a wide area network (WAN), an intranet, the Internet , peer-to-peer networks, peer-to-peer networks, a mesh network, and the like communicate data. Computing device 102 may also include a display (not shown).

Computing device 102 also includes one or more computer processors 304 and computer-readable media 306 including memory media and storage media. Computer-readable medium 306 is implemented to store instructions, data, and other information of computing device 102, and thus does not include transitory propagating signals or carrier waves. An application program and/or an An operating system (not shown) may be executed by computer processor 304 to provide some of the functionality described herein. Computer-readable medium 306 includes a radar-based application 308 and a controller 310 . The radar-based application 308 uses the radar data provided by the wireless communication chipset 104 to perform a radar sensing function, such as detecting the presence of a user, tracking the user's gestures for touchless control, detecting automatic Obstacles to driving, etc.

The controller 310 controls the operation of the wireless communication chipset 104 for wireless communication or radar sensing. In FIG. 3 , controller 310 is shown as a software module stored on computer readable medium 306 and executed by computer processor 304 . In some implementations, the controller 310 includes software or firmware that is transferred to or stored on the wireless communication chipset 104 and executed by the wireless communication chipset 104 . In other cases, the controller 310 is integrated into a controller within the wireless communication chipset 104 .

The controller 310 initiates, sets or operates the wireless communication chipset 104 to provide features for radar sensing. These features include full duplex operation, digital beamforming or radar modulation. The controller 310 may also manage the time sharing of the wireless communication chipset 104 for wireless communication or radar sensing based on priority, the radar-based application 308, or a predetermined update rate for radar sensing. Requests for wireless communication or radar sensing may be obtained by controller 310 from other applications associated with computing device 102 . In some cases, the controller 310 may cause the wireless communication chipset 104 to simultaneously provide both wireless communication and radar sensing, as described in further detail with respect to FIG. 10 . The wireless communication chipset 104 is further described with respect to FIG. 4 .

FIG. 4 shows an exemplary wireless communication chipset 104 including a communication interface 402 . The communication interface 402 provides communication data for wireless communication or radar data for radar sensing to the computing device 102 or a remote device. However, when the wireless communication chipset 104 is integrated into the computing device 102, the communication interface 402 does not need to be used. Radar data can contain raw in-phase or quadrature (I/Q) data data, preprocessed range Doppler maps, etc., which may be further processed by computer processor 304 via radar-based application 308 or controller 310.

The wireless communication chipset 104 also includes at least one antenna 404 and at least one transceiver 406 . The antenna 404 may be separate from the wireless communication chipset 104 or integrated within the wireless communication chipset 104 . Antennas 404 may include multiple antennas 404 for antenna diversity, transmit beamforming, or a MIMO network. In some cases, the plurality of antennas 404 are organized into a two-dimensional shape (eg, a planar array). A spacing between the plurality of antennas 404 may be less than, greater than, or equal to one-half of a center wavelength of the radar signal. Using the antenna 404, the controller 310 can cause the wireless communication chipset 104 to form beams that are steered or unsteered, wide or narrow, or shaped (eg, hemispheres, cubes, sectors, cones, cylinders). Steering and shaping may be accomplished using digital beamforming techniques, as described in further detail below.

Transceiver 406 includes circuitry and logic for conditioning signals transmitted or received via antenna 404, such as filters, switches, amplifiers, mixers, and the like. Transceiver 406 may also include logic to perform in-phase and quadrature (I/Q) operations such as synthesis, encoding, modulation, decoding, demodulation, and the like. Based on the type of wireless communication supported by wireless communication chipset 104, transceiver 406 can transmit and receive microwave radiation in a range of 1 GHz to 400 GHz, a range of 4 GHz to 100 GHz, and narrower frequency bands such as 57 GHz to 63 GHz.

The wireless communication chipset 104 also includes one or more system processors 408 and system media 410 (eg, one or more computer-readable storage media). The system processor 408 may also include baseband circuitry for performing high-rate sampling procedures, which may include analog-to-digital conversion, digital-to-analog conversion, fast Fourier transform (FFT), gain correction, Skew correction, frequency conversion, etc. In general, system processor 408 may provide communication data to transceiver 406 for transmission. System processor 408 may also process baseband signals from transceiver 406 to Data is generated, which can be provided to the computing device 102 via the communication interface 402 for wireless communication or radar sensing. In some cases, portions of controller 310 may be available in system media 410 and executed by system processor 408 .

The controller 310 enables the wireless communication chipset 104 to provide additional features for radar sensing. In particular, controller 310 may cause a first wireless communication chipset 104-1 to provide full-duplex operation 416, cause a second wireless communication chipset 104-2 to support digital beamforming via digital beamformer 418, or cause A third wireless communication chipset 104-3 implements the radar modulator 420.

Full-duplex operation 416 may be achieved by controller 310 controlling connections between different transceivers 406 and different antennas 404 in wireless communication chipset 104, as shown in FIG. 5 . Some implementations of full-duplex operation 416 enable wireless communication chipset 104 for continuous wave radar, as shown in Figure 6-1. Other implementations of full-duplex operation 416 achieve fast interleaving of transmit and receive pulsed Doppler radar, as shown in Figure 6-2. The full duplex operation 416 enables the wireless communication chipset 104 to be used to detect close range objects and to measure the range and range rate of the objects.

Digital beamforming may be accomplished by controller 310 causing wireless communication chipset 104 to provide baseband data from multiple receive chains (eg, multiple transceivers 406 and multiple antennas 404 ) to digital beamformer 418, such as Shown in Figure 7, Figure 8-1 and Figure 8-2. In some implementations, the digital beamformer 418 is implemented by the computing device 102 via the computer processor 304 and the computer-readable medium 306 . Digital beamformer 418 may alternatively be implemented by system processor 408 and system medium 410 if wireless communication chipset 104 includes circuitry and logic to perform a Fast Fourier Transform (FFT). Additionally, digital beamformer 418 provides an alternative to additional hardware components such as analog phase shifters by performing phase shifting and amplitude tapering operations digitally.

Digital beamforming offers many advantages. For example, applying digital beamforming techniques to For reception enables fewer antennas 404 to be used to transmit radar signals (eg, reducing reliance on transmit beamforming for radar sensing). The available timing resources are also efficiently utilized by enabling multiple beams to be digitally formed during reception rather than transmitting multiple narrow pencil beams over time. In addition, the digital beamformer 418 enables the creation of various patterns that provide flexibility in supporting different configurations of the antennas 404 across different wireless communication chipsets 104 .

Radar modulation may be achieved by controller 310 causing wireless communication chipset 104 to operate in-phase and quadrature (I/Q) modulators and demodulators as radar modulator 420 , as shown in FIG. 9 . For example, I/Q modulators may be programmed by controller 310 to digitally generate radar specific modulations that enable a range and Doppler of a target to be determined. These radar modulations also reduce interference with other radar or communication signals. In some cases, radar modulator 420 may enable parallel wireless communication and radar sensing, as shown in FIG. 10 .

Although shown separately, different combinations of full-duplex operation 416 , digital beamformer 418 , and radar modulator 420 may be implemented together for radar sensing using wireless communication chipset 104 . These features are further described with respect to FIGS. 5-10 .

full duplex operation

FIG. 5 shows an exemplary communication device 102 for full-duplex operation. The wireless communication chipset 104 includes a plurality of transceivers 406-1, 406-2, . . . , 406-N, where "N" represents a positive integer. Each transceiver 406 includes a transmit and receive chain represented by transmitters 502-1, 502-2, ..., 502-N and receivers 504-1, 504-2, ..., 504-N, respectively. The wireless communication chipset 104 also includes switches 506-1, 506-2, . . . , and 506-N and antennas 404-1, 404-2, . . . , 404-N. Switch 506 and antenna 404 may be internal or external to wireless communication chipset 104 . In FIG. 5, the numbers of antennas 404, switches 506, and transceivers 406 are shown to be the same, however, different numbers are possible. In some cases, transceiver 406 may be coupled to more than one antenna 404 or Antenna 404 may be coupled to more than one transceiver 406 .

In the depicted implementation, each switch 506 couples a corresponding transmitter 502 or receiver 504 to a corresponding antenna 404 . In some contexts of wireless communication, the wireless communication chipset 104 may use time division duplexing (TDD) to transmit or receive at different times. Thus, switch 506 couples transmitter 502 or receiver 504 to antenna 404 at any given time.

However, for radar sensing, it would be advantageous to enable the wireless communication chipset 104 to provide full-duplex operation 416 of the transceiver 406, thereby enabling short-range radar sensing. Full duplex operation 416 may be achieved by controller 310 setting a state of switch 506 via a duplex operation signal 508 . In this manner, controller 310 may enable wireless communication chipset 104 to perform continuous wave radar or pulsed Doppler radar, as described in further detail with respect to FIGS. 6-1 and 6-2. The use of switch 506 further enables wireless communication chipset 104 to easily switch between full-duplex operation for radar sensing or half-duplex operation for wireless communication.

6-1 illustrates full-duplex operation 416 of the wireless communication chipset 104 for continuous wave radar operation. In the depicted implementation, controller 310 causes a portion of transmitter 502 and a portion of receiver 504 to connect to respective antennas 404 simultaneously. For example, duplex operation signal 508 causes switch 506-1 to connect transmitter 502-1 to antenna 404-1 and switch 506-2 to connect receiver 504-2 to antenna 404-2. In this manner, transmitter 502-1 transmits a radar signal 602 via antenna 404-1, while receiver 504-2 receives a portion of radar signal 602 reflected by a target 604 via antenna 404-2.

In some cases, radar signal 602 may include a frequency modulated signal, as shown in graph 606 . Graph 606 plots frequency of a transmitted radar signal 602-1 and a reflected radar signal 602-2 over time. Diagram 606 depicts full-duplex operation 416 whereby transmitter 502-1 generates transmit radar signal 602-1 during a portion of the time during which receiver 504-2 receives reflections Radar signal 602-2. By measuring a frequency offset over time between the transmitted radar signal 602-1 and the reflected radar signal 602-2, a range and range rate of change of the target 604 can be determined by the radar-based application 308.

For transceivers 406 that share components of both the transmit and receive chains (eg, one transceiver 406 that can perform transmit or receive at any given time), at least two transceivers 406 can be used to achieve full duplex for continuous wave radar Operation 416 is performed whereby either a transmit chain or a receive chain from each of the transceivers 406 is connected to the antenna 404, respectively. Alternatively, for a transceiver 406 that includes separate transmit and receive chains (eg, a transceiver 406 that can perform both transmit and receive), the transmitter 502 and the receiver 504 of the transceiver 406 may be connected to antennas by separate 404 to achieve full-duplex operation 416 of the continuous wave radar (as shown in Figure 8-2).

6-2 illustrates full-duplex operation 416 of the wireless communication chipset 104 for pulsed Doppler radar operation. In the depicted implementation, controller 310 enables fast switching between transmitter 502 and receiver 504 . Using the duplex operating signal 508 , the controller 310 can further coordinate switching across the plurality of switches 506 . For pulsed Doppler radar, controller 310 interleaves transmit and receive operations so that pulses of transmit radar signal 602-1 may be transmitted by transmitters 502-1 and 502-2, and pulses of reflected radar signal 602-2 may be transmitted by receivers 504-1 and 504-2 receive. As an advantage, pulsed Doppler radar operation enables a wireless communication chipset 104 with a single transceiver 406 or a single antenna 404 to perform radar sensing. Compared to the continuous wave radar technique described in Figure 6-1, pulsed Doppler radar can also be used to increase sensitivity by implementing the dual purpose of antenna 404 for both transmit and receive.

A graph 608 plots a frequency of the transmitted radar signal 602-1 and the reflected radar signal 602-2 over time. As shown, transmit radar signal 602-1 includes a plurality of transmit pulses 610-1, 610-2, ..., 610-P, where "P" represents a positive integer. A time between each transmit pulse 610 It is called an inter-pulse period (IPP). During each transmit pulse 610 , the controller 310 causes the transmitter 502 to connect to the antenna 404 . During each transmit pulse 610, controller 310 causes receiver 504 to be connected for receiving reflected pulses 612 (such as reflected pulses 612-1 and 612-2). Although graph 608 shows that individual pulses are not transmitted and received at the same time, fast switching enables portions of radar signal 602 to be transmitted or received over the same time period, thus implementing a version of full-duplex operation 416.

Although two transceivers 406, two antennas 404, and two switches 506 are explicitly shown in Figures 6-1 and 6-2, the techniques used for continuous wave radar or pulsed Doppler radar may be applied to any number of Transceiver 406 , antenna 404 and switch 506 . Both continuous wave and pulsed Doppler radar operations can also be performed for the wireless communication chipset 104 using circulators instead of switches 506 .

digital beamforming

FIG. 7 shows an exemplary digital beamformer 418 and wireless communication chipset 104 for digital beamforming. Using digital beamforming technology, various radar fields can be transmitted or received, including square, narrow field, shaped field (hemisphere, cube, sector, cone, cylinder), guided field, unguided field, near field, far field distance field, etc. Although digital beamforming is discussed below with respect to receiving radar signals 602 , digital beamforming may also be implemented for transmitting radar signals 602 . In the depicted configuration, receivers 504-1 through 504-N process reflected radar signals 602-2 received via antennas 404-1 through 404-N, respectively, to generate baseband data 702-1 through 702-N. In general, the responses from the antennas 404 are processed separately by the individual receive chains. Baseband data 702 may include digital I/Q data collected over a period of time and for different wavenumbers associated with radar signal 602 .

The digital beamformer 418 (eg, via the communication interface 402 if the digital beamformer 418 is implemented separately from the wireless communication chipset 104 ) obtains the baseband data 702 from the wireless communication chipset 104 and multiplies the baseband data 702 by the composite weight 704-1 to 704-N. digital beamforming The processor 418 performs a summation 706 to combine the results from the receive chains to form a spatial response 708 . Spatial response 708 may be provided to radar-based application 308 for use in determining an angular position of target 604 . In general, the spatial response 708 includes amplitude and phase information about a set of angles, distances, and time.

In some implementations, the controller 310 can set or provide the composite weights 704 to control the shape of the antenna pattern used to generate the spatial response 708 . The composite weights 704 may be based on predetermined values and may enable thousands of beams to be formed simultaneously. The composite weights 704 can also be dynamically adjusted in real time by the controller 310 to reduce interference from jammers or noise sources (eg, by directing an antenna pattern of zero strength in one direction of the interference). The controller 310 may also configure the wireless communication chipset 104 to improve digital beamforming, as described in further detail with respect to FIGS. 8-1 and 8-2.

8-1 shows an exemplary configuration of a wireless communication chipset 104 for digital beamforming. The wireless communication chipset 104 includes an antenna array 802 having a plurality of antennas 404 . In the depicted configuration, the antenna array 802 is a planar array having a two-dimensional configuration (eg, a triangular, rectangular, circular, or hexagonal configuration) of the antennas 404 that aligns with the reflected radar signal 602-2. A two-dimensional vector associated with the angle of arrival can be determined (eg, enabling determination of both azimuth and elevation of the target 604). Antenna array 802 may include two antennas 404 positioned along one dimension of angular space (eg, an azimuthal or horizontal dimension) and along another dimension of antenna space (eg, a Another antenna 404 positioned in elevation or vertical dimension). Other implementations of antenna array 802 may include a linear array (eg, a one-dimensional configuration) such that either the azimuth or elevation of target 604 can be determined. In general, a two-dimensional antenna array achieves beam steering in two planes (eg, azimuth and elevation) and higher directivity than a one-dimensional antenna array with the same number of antennas and antenna spacing.

In the depicted configuration, antenna array 802 is shown as having an NxM rectangular configuration, where N and M are positive integers greater than 1 and may or may not be equal to each other. Exemplary configurations include a 2x2 array, a 2x3 array, a 4x4 array, and the like. For digital beamforming, controller 310 may implement techniques for full-duplex operation 416 to enable a portion of transceivers 406-1 through 406-NM to receive using a portion of antennas 404-1 through 404-NM in antenna array 802 The reflected radar signal 602-2 is used for digital beamforming.

In some implementations, the controller 310 may select which of the antennas 404 to use for digital beamforming. This may be accomplished by controlling which of the antennas 404 in the antenna array 802 is connected to the receiver 504 (eg, via the techniques described above for full-duplex operation 416). This enables the controller 310 to facilitate radar sensing via the wireless communication chipset 104 by selecting antennas 404 that achieve a predetermined spacing that reduces the effects of mutual coupling, enhances directivity, and the like. To control the angular ambiguity, the controller 310 may also select the antenna 404 based on a center wavelength of the radar signal 602 to achieve an effective antenna spacing. Exemplary antenna spacings may include approximately one center wavelength, one half of the center wavelength, or one third of the center wavelength of the radar signal 602 . Additionally, controller 310 may reduce one of the complexities of digital beamforming by selecting antennas 404 that are equally spaced within antenna array 802. In some implementations, the antenna 404 may be selected such that a two-dimensional array is formed for transmission and reception, as shown in Figures 8-2.

8-2 illustrate another exemplary wireless communication chipset 104 for digital beamforming. The wireless communication chipset 104 includes eight antennas 404-1 to 404-8 and four transceivers 406-1 to 406-4. Antennas 404-1 to 404-4 form a transmit antenna array 802-1 and antennas 404-5 to 404-8 form a receive antenna array 802-2. In the depicted configuration, transmitters 502-1 to 502-4 are coupled to antennas 404-1 to 404-4 in transmit antenna array 802-1, respectively, and receivers 504-1 to 504-4 are coupled to receive antennas, respectively Antennas 404-5 to 404-8 in array 802-2. In this manner, digital beamforming may be implemented for both transmission and reception of radar signals 602 . In other embodiments, the The transmit antenna array 802-1 may have the same or a different antenna configuration, the number of antennas 404, or the antenna spacing than the receive antenna array 802-2.

radar modulation

FIG. 9 shows an exemplary radar modulator 420 and wireless communication chipset 104 for radar modulation. In the depicted configuration, transceiver 406 of wireless communication chipset 104 includes an I/Q modulator 902 and an I/Q demodulator 904 . For wireless communication, the I/Q modulator 902 and the I/Q demodulator 904 can be used to modulate the communication data onto a carrier signal or demodulate the carrier signal to extract the communication data, respectively. Exemplary modulations include amplitude, frequency or phase modulation. As another example, Orthogonal Frequency Division Multiplexing (OFDM) may be performed by I/Q modulator 902 and I/Q demodulator 904 .

For radar sensing, controller 310 may generate a modulation operating signal 906 to cause I/Q modulator 902 and I/Q demodulator 904 to operate as radar modulator 420 and utilize a predetermined radar modulation type. Exemplary radar modulations include frequency modulation (eg, linear frequency modulation (LFM), sawtooth frequency modulation, or triangular frequency modulation), step frequency modulation, phase shift keying (PSK), pseudo-noise modulation , spread spectrum modulation, etc. As an example, controller 310 may cause I/Q modulator 902 to generate a sweep signal and cause I/Q demodulator 904 to demodulate the sweep signal of a frequency modulated continuous wave (FMCW) radar.

The controller 310 may also use the modulated operating signal 906 to further designate a wireless communication channel for transmitting and receiving the radar signal 602 , which achieves a frequency and a bandwidth of the radar signal 602 . In some aspects, different wireless communication frequency channels may be combined to increase a bandwidth of the radar signal. Utilizing a larger bandwidth enhances the range resolution of radar sensing via the wireless communication chipset 104 (eg, increases range accuracy and enables multiple targets to be resolved in range). I/Q modulator 902 and I/Q demodulator 904 may also be used to support concurrently performing multiple radar sensing operations or performing both wireless communication and radar sensing simultaneously, as described in further detail with respect to FIG. 10 .

FIG. 10 illustrates the computing device 102 using the controller 310 and the wireless communication chipset 104 to perform wireless communication and radar sensing. In this example, the wireless communication chipset 104 supports MIMO and OFDM. Based on the modulated operating signal 906, the wireless communication chipset 104 generates signals 1000-1, 1000-2, . 1000-N. Signals 1000-1, 1000-2, and 1000-N are modulated for radar sensing, wireless communication, and both radar sensing and wireless communication, respectively. Signal 1000-N may be achieved by modulating a signal containing communication data using radar modulation. In this manner, other computing devices 102 receiving the signal 1000-N may process the signal 1000-N for wireless communication or for radar sensing (eg, using two-state, poly-state, or network radar techniques, as shown in FIG. 3 ). described in).

To avoid interference between the multiple signals 1000, the controller 310 can cause the I/Q modulator 902 to make the signals 1000 quadrature with each other. In other aspects, signals 1000-1, 1000-2, and 1000-3 may be transmitted using disjoint wireless communication channels. Different wireless communication channels can also be used for different radar modulations so that different radar signals 602 can be transmitted simultaneously. If timing, antenna, or transceiver resources are limited in the wireless communication chipset 104, the controller 310 may schedule the wireless communication and radar sensing based on priority, a predetermined update rate, or a request from another application to occur at different times.

Exemplary method

FIGS. 11-13 depict exemplary methods 1100 , 1200 , and 1300 for radar sensing using the wireless communication chipset 104 . Methods 1100, 1200, and 1300 are shown as sets of operations (or actions) performed, but are not necessarily limited to the order or combination of operations shown herein. Furthermore, any of one or more operations may be repeated, combined, reorganized, or linked to provide a wide variety of additional and/or alternative approaches. In portions of the following discussion, reference may be made to the environments 100 and 200 of FIGS. 1 and 2 and the entities detailed in FIGS. 3-10, by way of example only. Unlimited technology is performed by an entity or entities operating on a device.

11 illustrates an exemplary method for performing full-duplex operation for radar sensing using a wireless communication chipset. At 1102, a transmitter of a wireless communication chipset is caused to connect to a first antenna. For example, the controller 310 may cause the wireless communication chipset 104 to connect the transmitter 502 to at least one of the antennas 404 in an antenna array 802 .

At 1104, a receiver of the wireless communication chipset is caused to connect to a second antenna. For example, controller 310 may cause wireless communication chipset 104 to connect receiver 504 to at least one other antenna 404 in antenna array 802 . Transmitter 502 and receiver 504 may be associated with the same transceiver 406 or different transceivers 406 in one of the wireless communication chipsets 104 .

At 1106, a signal is transmitted via the transmitter and the first antenna. For example, transmitter 502-1 and antenna 404-1 may transmit radar signal 602. In some cases, radar signal 602 may be a continuous wave radar signal as shown in Figure 6-1 or a pulsed radar signal as shown in Figure 6-2.

At 1108, a signal reflected by a target is received via a receiver and a second antenna. The reception of the signal occurs during at least a portion of the time when the transmitter transmits the signal. For example, radar signal 602 may be reflected by target 604 and received via receiver 504-2 and second antenna 404-2. In some implementations, the receiver 504-1 may be used with the first antenna 404-1. For continuous wave radar, portions of the radar signal 602 may be simultaneously transmitted while other portions of the signal are received. For pulsed Doppler radar, different pulses of radar signal 602 may be received between other pulses transmitted.

At 1110, the received signal is processed to determine a location of a target. For example, the system processor 408 or the computer processor 304 may process the radar signal 602 to determine a distance or an angular position of the target 604 .

FIG. 12 illustrates the implementation of digital beam for radar sensing using a wireless communication chipset An exemplary method of shaping. At 1202, a radar signal reflected by a target is received via receive chains of a wireless communication chipset. For example, reflected radar signal 602-2 may be received via at least a portion of receivers 504-1 through 504-N and at least a portion of antennas 404-1 through 404-N of wireless communication chipset 104, as shown in FIG. In general, each receive chain is associated with a transceiver 406 and one or more antennas 404 . In some cases, the controller 310 may initialize or configure the wireless communication chipset 104 via the duplex operation signal 508 for receiving the reflected radar signal 602-2. The controller 310 can also further select which receive chains are used to receive the reflected radar signal 602-2, which can further optimize the wireless communication chipset 104 for digital beamforming.

At 1204, baseband data associated with each of the plurality of receive chains is generated via the wireless communication chipset. For example, the baseband data 702 - 1 to 702 -N are generated by the wireless communication chipset 104 . Baseband data 702-1 through 702-N may include digital I/Q data generated by receivers 504-1 through 504-N.

At 1206, the baseband data is provided to a digital beamformer. For example, the digital beamformer 418 may be implemented within the wireless communication chipset 104 or the computing device 102 . In some implementations, the baseband data 702 may be communicated to the digital beamformer 418 via the communication interface 402 .

At 1208, digital beamforming is performed via a digital beamformer by generating a spatial response based on the baseband data. For example, the digital beamformer 418 may scale the baseband data 702 according to the composite weights and combine the data from each receive chain to generate the spatial response 708 . In general, the spatial response 708 represents amplitude and phase information for different angles.

At 1210, an angular position of an object is determined based on the spatial response. The angular position can be determined based on the spatial response 708 via the radar-based application 308 . In some cases, the angular position may include both an azimuth and an elevation of the target 604 .

13 illustrates an exemplary method for performing radar modulation for radar sensing using a wireless communication chipset. At 1302, a first modulation type is selected to enable a position of a target to be determined. For example, the first modulation type may include a radar modulation, such as a linear frequency modulation, a step frequency modulation, phase shift keying, or the like.

At 1304, a second modulation type is selected to enable communication data to be communicated wirelessly. Communication modulation types may include quadrature frequency division multiplexing.

At 1306, a signal is modulated based on the first modulation type via a wireless communication chipset to generate a radar signal. For example, the wireless communication chipset 104 may include the I/Q modulator 902 . Controller 310 may cause I/Q modulator 902 to generate radar signal 602, signal 1000-1 or signal 1000-N using radar modulation via modulation operating signal 906.

At 1308, another signal is modulated based on the second modulation type via the wireless communication chipset to generate a communication signal. For example, controller 130 may cause I/Q modulator 902 to use communication modulation to generate signal 1000-2 or signal 1000-N via modulation operation signal 906.

At 1310, the transmission of radar signals and communication signals is controlled to enable radar sensing and wireless communication via the wireless communication chipset. For example, if the wireless communication chipset 104 has limited resources (eg, a limited number of transceivers 406 and antennas 404), the controller 310 may cause the wireless communication chipset 104 to transmit the radar signal 1000-1 and the communication signal at different times 1000-2. Alternatively, such as in the case where the wireless communication chipset 104 supports MIMO, the controller 310 may cause the wireless communication chipset 104 to transmit the radar signal 1000-1 and the communication signal 1000-2 simultaneously. In some cases, the transmission of radar signal 1000-1 and communication signal 1000-2 may be based on respective priorities, a predetermined update rate for radar sensing, or an application associated with wireless communication chipset 104 (such as radar-based application 308) for each request.

Exemplary Computing System

FIG. 14 illustrates a method that may be implemented as any type of client, server, and/or computing device as previously described with reference to FIGS. 1-10 to implement radar sensing using a wireless communication chipset 104 (wireless communication chipset 104 ). Various components of exemplary computing system 1400.

Computing system 1400 includes communication devices 1402 that enable wired and/or wireless communication of device data 1404 (eg, data received, data being received, data scheduled for broadcast, data packets of data). Device data 1404 or other device content may include configuration settings for the device, media content stored on the device, and/or information associated with a user of the device. The media content stored on the computing system 1400 may include any type of audio, video and/or image data. The computing system 1400 includes one or more data inputs 1406 via which any type of data, media content and/or input may be received, such as human speech, baseband data 702, spatial responses 708, other types radar data (eg, digital baseband data or range Doppler maps), user-selectable inputs (explicit or implicit), messages, music, television media content, recorded video content and from any content and/or Any other type of audio, video and/or image data received by the data source.

Computing system 1400 also includes communication interfaces 1408, which may be implemented as any one or more of a serial and/or parallel interface, a wireless interface, a network interface of any type, a modem, and implemented as Any other type of communication interface. Communication interface 1408 provides a connection and/or communication link between computing system 1400 and a communication network through which other electronic, computing and communication devices communicate data with computing system 1400.

Computing system 1400 includes one or more processors 1410 (eg, any of microprocessors, controllers, and the like) that process various computer-executable instructions to control the operation of computing system 1400 and Techniques for radar sensing using the wireless communication chipset 104 are implemented or may be embodied in techniques for radar sensing using the wireless communication chipset 104 . alternatively or otherwise Furthermore, computing system 1400 may be implemented using any one or a combination of hardware, firmware, or fixed logic circuits implemented in conjunction with processing and control circuits (identified generally as 1412). Although not shown, the computing system 1400 may include a system bus or a data transfer system that couples the various components within the device. A system bus can include any one or a combination of different bus structures, such as a memory bus or memory controller, a peripheral bus, a general purpose serial bus, and/or any of the various bus architectures utilized Either a processor or a regional bus.

The computing system 1400 also includes a computer-readable medium 1414, such as one or more memory devices that implement permanent and/or non-transitory data storage (ie, as compared to mere signaling), examples of which include random access memory. Access memory (RAM), non-volatile memory (eg, any one or more of a read only memory (ROM), flash memory, EPROM, EEPROM, etc.), and a disk storage device. A magnetic disk storage device can be implemented as any type of magnetic or optical storage device, such as a hard disk drive, a recordable and/or rewritable compact disc (CD), any type of digital versatile disc (DVD) and the like By. The computing system 1400 may also include a mass storage media device (storage medium) 1416 .

Computer readable medium 1414 provides a data storage mechanism for storing device data 1404 as well as various device applications 1418 and any other types of information and/or data related to the operational aspect of computing system 1400 . For example, an operating system 1420 may be maintained as a computer application in conjunction with computer-readable medium 1414 and executed on processor 1410 . Device applications 1418 may include a device manager, such as any form of control application, software application, signal processing and control modules, code native to a specific device, a hardware abstraction layer for a specific device, and the like.

Device application 1418 also includes any system components, engines, or managers used to implement radar sensing using wireless communication chipset 104 . In this example, device application 1418 includes Radar based application 308 , controller 310 and digital beamformer 418 .

in conclusion

While techniques for using radar sensing using a wireless communication chipset and devices including radar sensing using a wireless communication chipset have been described in language specific to features and/or methods, it should be understood that the accompanying patent application The subject matter of scope is not necessarily limited to the specific features or methods described. Rather, certain features and methods are disclosed as exemplary implementations of radar sensing using wireless communication chipsets.

100: Environment

102: Computing device

104: Wireless Communication Chipset

106: Base Station

108: Wireless Communication Links/Wireless Links

110-1: Masking Gesture Recognition Application

110-2: Gesture Recognition Application

110-3: Medical Diagnostic Applications

110-4: Mapping Applications

Claims (20)

A method for radar modulation, the method being performed by a hardware chipset of a device, the method comprising: modulating, via a transceiver of the hardware chipset, by modulating a first signal to generate a radar signal; transmit the radar signal through an antenna of the hardware chip set so that the radar signal can be used for radar sensing; through the transceiver, by modulating based on a communication modulation type transforming a second signal to generate a wireless communication signal; transmitting the wireless communication signal through the antenna to enable wireless communication with another device; through the transceiver, by modulating a third signal based on the radar modulation type and converting The communication data is modulated on the third signal to generate a wireless communication and radar sensing signal; and the wireless communication and radar sensing signal is transmitted through the antenna, so that the wireless communication and radar sensing signal can be used for borrowing Sensing by wireless communication or radar of the other device. The method of claim 1, wherein the radar modulation type comprises a linear-frequency modulation. The method of claim 1, further comprising selecting a wireless communication channel to set a frequency and a bandwidth of the wireless communication and radar sensing signals. The method of claim 3, further comprising using the wireless communication channel with another wireless communication The signal channel performs channel bonding so that the bandwidth of the wireless communication and radar sensing signals can encompass at least a portion of the frequencies in the wireless communication channel and the frequencies in the other wireless communication channel at least another part. The method of claim 1, further comprising synchronizing the device including the hardware chipset and the another device including another hardware chipset to enable the device and the other device to use the wireless communication and The radar senses the signal and operates as a bistatic radar. The method of claim 5, further comprising: receiving, via the hardware chipset, another wireless communication and radar sensing signal transmitted by the other device, the another wireless communication and radar sensing signal including other communication data and reflected by the target; extract the communication data from the other wireless communication and radar sensing signals via the hardware chipset; and perform digital beamforming based on the received another wireless communication and the radar sensing signal to determine an angular position of the target. The method of claim 1, further comprising operating the hardware chipset in accordance with a full-duplex operation to enable the hardware chipset to transmit the wireless communication and radar sensing signals at the time of transmission A reflected version of the wireless communication and radar sensing signal is received during at least a portion of the period. As in the method of claim 1, wherein: The transmission of the radar signal and the wireless communication signal includes simultaneously transmitting a portion of the radar signal and a portion of the wireless communication signal; and the communication modulation type and the radar modulation type are orthogonal to each other to mitigate the radar signal interference with the communication signal. The method of claim 1, wherein the selection of the radar modulation type and the selection of the communication modulation type cause the radar signal and the communication signal to utilize disjoint wireless communication channels. The method of claim 1, wherein the transmitting of the radar signal and the wireless communication signal comprises transmitting the radar signal and the wireless communication signal at different times. An apparatus for radar modulation includes a hardware chip set configured to: generate a radar signal by modulating a first signal based on a radar modulation type; transmit the radar signal to enable The radar signal can be used for radar sensing; by modulating a second signal based on a communication modulation type to generate a wireless communication signal; by modulating a third signal based on the radar modulation type and converting the communication data modulating the third signal to generate a wireless communication and radar sensing signal; transmitting the wireless communication and radar sensing signal so that the wireless communication and radar sensing signal can be used for wireless communication by another device communication or radar sensing. The apparatus of claim 11, wherein the apparatus comprises a cellular telephone. The apparatus of claim 11, wherein the radar modulation type comprises a linear-frequency modulation. The apparatus of claim 11, wherein the hardware chipset is configured to select a wireless communication channel to set a frequency and a bandwidth of the wireless communication and radar sensing signals. The apparatus of claim 14, wherein the hardware chipset is configured to perform channel bonding using the wireless communication channel and another wireless communication channel to enable the wireless communication and radar sensing signal bandwidth Capable of encompassing at least a portion of the frequencies in the wireless communication channel and at least another portion of the frequencies in the other wireless communication channel. The device of claim 11, wherein the hardware chipset is configured to synchronize another hardware chipset of another device to enable the hardware chipset and the other hardware chipset to use the wireless communication and radar sensing signals to operate as a bistatic radar. The apparatus of claim 16, wherein the hardware chipset is configured to: receive another wireless communication and radar sensing signal transmitted by the other hardware chipset, the other wireless communication and radar sensing signal contains other communication data and is reflected by an object; extracts the communication data from the other wireless communication and radar sensing signal; and performs digital beamforming based on the received other wireless communication and radar The sensing signal determines an angular position of the object. The apparatus of claim 11, wherein the hardware chipset is configured to perform a full-duplex operation to receive the wireless communication during at least a portion of the time when the wireless communication and radar sensing signals are transmitted and A reflected version of the radar sensing signal. The apparatus of claim 11, wherein the hardware chipset includes a transceiver and an antenna; and the hardware chipset is configured to generate and transmit the radar signal at different times using the transceiver and the antenna, the A wireless communication signal, and the wireless communication and radar sensing signal. The apparatus of claim 11, wherein the hardware chipset includes a plurality of transceivers and a plurality of antennas; and the hardware chipset is configured to use the plurality of transceivers and the plurality of antennas at the same time interval The radar signal, the wireless communication signal, and the wireless communication and radar sensing signal are generated and transmitted during the period.

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