Infrastructure-assisted signalling and sensing systems

A method comprising:

• obtaining, at a processor of a radar system of a base station from a communication system of an approaching object, an indication of the approaching object, the indication including a request for environmental information for a region of interest, the indication of the approaching object;
• determining, at the processor, a reaction time for the approaching object;
• scheduling, by the processor, at least one sensing slot within at least one communication frame based on the determined reaction time and the region of interest, wherein scheduling the at least one sensing slot comprises:
• determine an expected speed for one or more identified objects in the region of interest;
• determine a number of sensing slots and a number of communication frames such that an identified object of the one or more objects moving at the expected speed can be detected;
• and
• schedule the number of sensing slots within the number of communication frames based on the determined reaction time, the region of interest, and the expected speed;
• controlling, by the processor, at least one of a transmitter and a receiver to perform radar sensing of a region of interest during the at least one sensing slot within the at least one communication frame to obtain environmental information;
• and
• controlling, by the processor, the transmitter to transmit the environmental information for the region of interest to a communication system of the approaching object.

A non-transitory computer-readable medium storing machine instructions which, when executed by at least one processor of a radar system of a base station, cause the at least one processor to:

• obtain, by the at least one processor from a communication system of the approaching object, an indication of an approaching object including a request for environmental information for a region of interest;
• determine a reaction time for the approaching object in response to the request;
• schedule at least one sensing slot within at least one communication frame based on the determined reaction time and the region of interest, wherein scheduling the at least one sensing slot comprises:
• determine an expected speed for one or more identified objects in the region of interest;
• determine a number of sensing slots and a number of communication frames such that an identified object of the one or more objects moving at the expected speed can be detected;
• and
• schedule the number of sensing slots within the number of communication frames based on the determined reaction time, the region of interest, and the expected speed;
• control at least one of a transmitter and a receiver to perform radar sensing of a region of interest to obtain environmental information;
• and
• transmit the environmental information for the region of interest to a communication system of the approaching object.