Systems, devices and methods for synchronization

A vehicle, comprising:

• an apparatus, comprising:
• a local radar device configured to transmit and receive radar signals;
• a wireless device configured to wirelessly transmit and receive data;
• at least one processor operably coupled to the wireless device and the local radar device, and
• the at least one processor configured to:
• obtain local radar information regarding one or more radar pulses sent and/or received by the local radar device;
• obtain neighboring radar information associated with radar pulses sent and/or received from one or more neighboring radar devices;
• and
• update a radar data structure using the obtained local and neighboring radar information, wherein the radar data structure comprises radar information for each of a plurality of radar pulses transmitted by the local radar device and/or the one or more neighboring radar devices;
• wherein the radar information of the radar data structure comprises radar timing information comprising time-of-arrival (ToA) data and time-of-departure (ToD) data respectively for radar pulses transmitted by the local radar device, and the one or more neighboring radar devices.

A means for radar synchronization, comprising:

• a processing means, for:
• obtaining local radar information associated with one or more radar pulses sent and/or received from a local radar device;
• obtaining neighboring radar information associated with radar pulses sent and/or received from one or more neighboring radar devices;
• and
• updating a radar data structure using the obtained local and neighboring radar information;
• wherein the radar data structure comprises radar information for each of a plurality of radar pulses transmitted by the local radar device and the one or more neighboring radar devices;
• wherein the radar information of the radar data structure comprises radar timing information comprising time-of-arrival (ToA) data and time-of-departure (ToD) data respectively for radar pulses transmitted by the local radar device, and the one or more neighboring radar devices.

A non-transitory computer readable medium comprising instructions that when executed by at least one processor of a radar node device, cause the radar node device to:

• obtain local radar information regarding one or more radar pulses sent and/or received by the local radar device;
• obtain neighboring radar information associated with radar pulses sent and/or received from one or more neighboring radar devices;
• and
• update a radar data structure using the obtained local and neighboring radar information, wherein the radar data structure comprises radar information for each of a plurality of radar pulses transmitted by the local radar device and/or the one or more neighboring radar devices;
• transmit at least a portion of the updated radar data structure to one or more neighboring devices associated respectively with the one or more neighboring radar devices;
• and
• determine, based on the updated radar data structure, synchronization parameters and location parameters with at least one of the one or more neighboring devices;
• wherein the radar information of the radar data structure comprises radar timing information comprising time-of-arrival (ToA) data and time-of-departure (ToD) data respectively for radar pulses transmitted by the local radar device, and the one or more neighboring radar devices.