Abstract: Some demonstrative aspects include radar apparatuses, devices, systems and methods. In one example, an apparatus may include one or more Transmit (Tx) antennas to transmit radar Tx signals, one or more Receive (Rx) antennas to receive radar Rx signals, and a processor to generate radar information based on the radar Rx signals. The apparatus may be implemented, for example, as part of a radar device, for example, as part of a vehicle including the radar device. In other aspects, the apparatus may include any other additional or alternative elements and/or may be implemented as part of any other device.

Abstract: For example, an apparatus may include a radar antenna including at least one Transmit (Tx) antenna to transmit a Tx radar signal; and a plurality of Receive (Rx) antennas to receive Rx radar signals based on the Tx radar signal, wherein a distance between a first Rx antenna of the planarity of Rx antennas and a second Rx antenna of the plurality of Rx antennas, which is adjacent to the first Rx antenna, is at least ten times a wavelength of a central frequency of the Tx radar signal.

Abstract: For example, a processor may be configured to determine a plurality of potential targets based on radar data; and to identify one or more true targets in the plurality of potential targets by identifying a first potential target and a second potential target, which are at a same angle relative to the radar antenna; classifying the first potential target as a first true target based on a determination that a range between the first potential target and the radar antenna is shorter than a range between the second potential target and the radar antenna; and classifying the second potential target as a second true target or as a ghost target of the first true target according to a classification criterion.

Abstract: An apparatus comprising an antenna array comprising a plurality of antennas to receive a plurality of radar signals reflected by a plurality of objects responsive to a transmitted radar signal; a doppler measurement module to determine, for a first reflected radar signal of the plurality of reflected radar signals, a first doppler measurement indicating a velocity component based on a comparison of the first reflected radar signal to the transmitted radar signal; a phase offset measurement module to determine a first phase offset of the first reflected radar signal received at a first antenna of the plurality of antennas relative to a phase of the first reflected radar signal received at a reference antenna of the plurality of antennas; and a phase offset calibration module to determine, for the first antenna, a first phase offset calibration error based on the first doppler measurement and the first phase offset.

Abstract: For example, an apparatus may include a radar antenna including at least one Transmit (Tx) antenna to transmit a Tx radar signal; and a plurality of Receive (Rx) antennas to receive Rx radar signals based on the Tx radar signal, wherein a distance between a first Rx antenna of the planarity of Rx antennas and a second Rx antenna of the plurality of Rx antennas, which is adjacent to the first Rx antenna, is at least ten times a wavelength of a central frequency of the Tx radar signal.

Abstract: An apparatus for radar synchronization may include 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 radar device, and the at least one processor configured to perform a method including obtaining local radar information regarding one or more radar pulses sent and/or received by the local radar device; and 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/or the one or more neighboring radar devices.

Abstract: For example, an apparatus may include a radar antenna including at least one Transmit (Tx) antenna to transmit a Tx radar signal; and a plurality of Receive (Rx) antennas to receive Rx radar signals based on the Tx radar signal, wherein a distance between a first Rx antenna of the planarity of Rx antennas and a second Rx antenna of the plurality of Rx antennas, which is adjacent to the first Rx antenna, is at least ten times a wavelength of a central frequency of the Tx radar signal.

Abstract: According to various embodiments, a radar device is described comprising a processor configured to generate a scene comprising an object based on a plurality of receive wireless signals, generate a ground truth object parameter of the object and generate a dataset representative of the scene and a radar detector configured to determine an object parameter of the object using a machine learning algorithm and the dataset, determine an error value of the machine learning algorithm using a cost function, the object parameter, and the ground truth object parameter and adjust the machine learning algorithm values to reduce the error value.

Abstract: Some aspects relate to an apparatus, method and/or system of radar tracking. For example, a radar tracker may be configured to generate target tracking information corresponding to a plurality of targets in an environment of a radar device. For example, the radar tracker may include a processor configured to determine the target tracking information based on a plurality of multi-target density functions corresponding to a respective plurality of target types, and to update the plurality of multi-target density functions based on detection information corresponding to a plurality of detections in the environment. For example, the radar tracker may include an output to output the target tracking information.

Abstract: For example, a processor may be configured to process point cloud (PC) radar information comprising radar detection information of a plurality of possible detections, wherein radar detection information corresponding to a possible detection of the plurality of possible detections comprises information of a plurality of radar attributes of the possible detection, wherein the processor is configured to determine a plurality of validity scores corresponding to the plurality of possible detections based on the radar detection information of the plurality of possible detections, a validity score corresponding to the possible radar detection to indicate whether it is more probable that the possible detection is a valid detection or a False-Alarm (FA) detection, wherein the processor is to output radar target information based on the plurality of validity scores corresponding to the plurality of possible detections.

Abstract: Some demonstrative embodiments include apparatuses systems and/or methods of Collaborative Time of Arrival (CToA). For example, an apparatus may include circuitry and logic configured to cause a CToA broadcasting wireless communication station (STA) (bSTA) to broadcast an announcement frame to announce a ranging-to-self sequence of a CToA measurement protocol; to broadcast a first ranging measurement frame of the ranging-to-self sequence subsequent to the announcement frame; to broadcast a second ranging measurement frame of the ranging-to-self sequence subsequent to the first ranging measurement frame; and to broadcast a Location Measurement Report (LMR) frame of the ranging-to-self sequence subsequent to the second ranging measurement frame, the LMR frame including a Time of Departure (ToD) of the first ranging measurement frame.

Abstract: For example, a processor may be configured to determine a plurality of potential targets based on radar data; and to identify one or more true targets in the plurality of potential targets by identifying a first potential target and a second potential target, which are at a same angle relative to the radar antenna; classifying the first potential target as a first true target based on a determination that a range between the first potential target and the radar antenna is shorter than a range between the second potential target and the radar antenna; and classifying the second potential target as a second true target or as a ghost target of the first true target according to a classification criterion.

Abstract: Some demonstrative embodiments include apparatuses systems and/or methods of Collaborative Time of Arrival (CToA). For example, an apparatus may include circuitry and logic configured to cause a CToA broadcasting wireless communication station (STA) (bSTA) to broadcast an announcement frame to announce a ranging-to-self sequence of a CToA measurement protocol; to broadcast a first ranging measurement frame of the ranging-to-self sequence subsequent to the announcement frame; to broadcast a second ranging measurement frame of the ranging-to-self sequence subsequent to the first ranging measurement frame; and to broadcast a Location Measurement Report (LMR) frame of the ranging-to-self sequence subsequent to the second ranging measurement frame, the LMR frame including a Time of Departure (ToD) of the first ranging measurement frame.

Abstract: For example, an apparatus may include a radar antenna including at least one Transmit (Tx) antenna to transmit a Tx radar signal; and a plurality of Receive (Rx) antennas to receive Rx radar signals based on the Tx radar signal, wherein a distance between a first Rx antenna of the planarity of Rx antennas and a second Rx antenna of the plurality of Rx antennas, which is adjacent to the first Rx antenna, is at least ten times a wavelength of a central frequency of the Tx radar signal.

Abstract: Devices and methods of estimating the AoD of a STA are generally described. The STA receives comparison symbols from a first AP antenna. The comparison symbols are received prior to and after switching of transmitter chains from a first set of antennas to a second set of antennas. AoD symbols are received immediately after the comparison symbols. A phase and amplitude correction is determined based on a phase and amplitude change between the comparison symbols and the second AoD symbol corrected based thereon. The AoD is subsequently estimated based on the symbol measurements.

Abstract: Some demonstrative embodiments include apparatuses systems and/or methods of Collaborative Time of Arrival (CToA). For example, an apparatus may include circuitry and logic configured to cause a CToA broadcasting wireless communication station (STA) (bSTA) to broadcast an announcement frame to announce a ranging-to-self sequence of a CToA measurement protocol; to broadcast a first ranging measurement frame of the ranging-to-self sequence subsequent to the announcement frame; to broadcast a second ranging measurement frame of the ranging-to-self sequence subsequent to the first ranging measurement frame; and to broadcast a Location Measurement Report (LMR) frame of the ranging-to-self sequence subsequent to the second ranging measurement frame, the LMR frame including a Time of Departure (ToD) of the first ranging measurement frame.

Abstract: Embodiments of an access point (AP), station (STA) and method of sounding are generally described herein. The AP may transmit, during a transmission opportunity (TXOP), a trigger frame (TF) to indicate that an STA is to transmit an uplink sounding packet during an uplink sounding period of the TXOP. The AP may attempt to detect the uplink sounding packet during the uplink sounding period. If the uplink sounding packet is not detected during the uplink sounding period, the AP may transmit a recovery packet to cause other STAs to determine a busy condition during the uplink sounding period. If the uplink sounding packet is detected during the uplink sounding period, the AP may determine a channel estimate for the STA based at least partly on the uplink sounding packet.

Abstract: An apparatus comprising an antenna array comprising a plurality of antennas to receive a plurality of radar signals reflected by a plurality of objects responsive to a transmitted radar signal; a doppler measurement module to determine, for a first reflected radar signal of the plurality of reflected radar signals, a first doppler measurement indicating a velocity component based on a comparison of the first reflected radar signal to the transmitted radar signal; a phase offset measurement module to determine a first phase offset of the first reflected radar signal received at a first antenna of the plurality of antennas relative to a phase of the first reflected radar signal received at a reference antenna of the plurality of antennas; and a phase offset calibration module to determine, for the first antenna, a first phase offset calibration error based on the first doppler measurement and the first phase offset.

Abstract: Some demonstrative embodiments include apparatuses, systems and/or methods of Multi User (MU) Fine Timing Measurement (FTM). For example, a wireless station may be configured to transmit a trigger frame including a resource allocation of a plurality of resource slots to a plurality of wireless stations; to process a plurality of Non-Data Packet (NDP) transmissions from the plurality of wireless stations according to the resource allocation; to transmit an NDP; and to transmit a MU FTM message including timing information corresponding to the NDP and timing information corresponding to the plurality of NDP transmissions from the plurality of wireless stations.

Abstract: Devices and methods of estimating the AoD of a STA are generally described. The STA receives comparison symbols from a first AP antenna. The comparison symbols are received prior to and after switching of transmitter chains from a first set of antennas to a second set of antennas. AoD symbols are received immediately after the comparison symbols. A phase and amplitude correction is determined based on a phase and amplitude change between the comparison symbols and the second AoD symbol corrected based thereon. The AoD is subsequently estimated based on the symbol measurements.