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We develop an extended Kalman filter-based vehicle tracking algorithm, specifically designed for uniform planar array layouts and vehicle platoon scenarios. We first propose an antenna placement strategy to design the optimal antenna array configuration for precise vehicle tracking in vehicle-to-infrastructure networks. Furthermore, a vehicle tracking algorithm is proposed to improve the position estimation performance by specifically considering the characteristics of the state evolution model for vehicles in the platoon. The proposed algorithm enables the sharing of corrected error transition vectors among platoon vehicles, for the purpose of enhancing the tracking performance for vehicles in unfavorable positions. Lastly, we propose an array partitioning algorithm that effectively divides the entire antenna array into sub-arrays for vehicles in the platoon, aiming to maximize the average tracking performance. Numerical studies verify that the proposed tracking and array partitioning algorithms improve the position estimation performance. [ABSTRACT FROM AUTHOR]

The safety and consistency of platoon-based driving are guaranteed via reliable communication between vehicles in a platoon. In this paper, we propose to exploit a full-duplex (FD) relay vehicle for millimeter-wave vehicular communications in platoon-based driving. Considering that a lead vehicle broadcasts information to all vehicles in a platoon, we consider two power allocation problems—maximizing broadcast information rates with a power constraint and minimizing power consumption with a quality-of-service constraint. In particular, for a four-vehicle platoon communication, we derive closed-form solutions for optimal power allocation and present numerical results to verify the performance of the proposed FD relay vehicles. [ABSTRACT FROM AUTHOR]