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Multiple signal classification (MUSIC) has been widely applied in multiple-input multiple-output (MIMO) receivers for direction-of-arrival (DOA) estimation. To reduce the cost of radio frequency (RF) chains at millimeter-wave bands, hybrid analog-digital structure has been adopted in massive MIMO transceivers. In this situation, received signals at the antennas are unavailable to the digital receiver, and as a consequence, the spatial covariance matrix (SCM), which is essential in MUSIC algorithm, cannot be obtained using traditional sample average approach. Based on our previous work, we propose a novel algorithm for SCM reconstruction in hybrid massive MIMO systems with multiple RF chains in this paper. By switching the analog beamformers to a group of predetermined DOAs, SCM can be reconstructed through the solutions of a set of linear equations. Furthermore, a low-complexity algorithm, as well as a careful selection of the predetermined DOAs, will be also presented in this paper. Simulation results show that the proposed algorithms can reconstruct the SCM accurately so that MUSIC algorithm can be well used in hybrid massive MIMO systems with multiple RF chains. [ABSTRACT FROM AUTHOR]

Many autonomous vehicles and advanced driver-assistance systems are equipped with front-facing cameras that detect and track objects using deep-learning-based algorithms. However, the localization capability of monocular cameras is often overlooked. In this paper, a novel method for estimating the pixel-wise error in a detected object's location versus its ground truth is proposed. As the object moves away from the camera, the pixel errors are shown to be normally distributed with unique spreads along the image's vertical axis (y-pixel). The pixel error appears to be smaller as objects get farther away, while at the same distance range, objects have similar error distribution across the camera's horizontal view. The horizontal axis (x-pixel) error appears to be smaller while the distance moves further away. However, the x-pixel location along a constant y-pixel row has no impact on the error distribution. The estimated x and y-pixel error distributions can in turn be used to form a spatial error distribution for finding the location of a detected object within a certain confidence interval. The spatial errors are then projected onto the world coordinate system using a camera transformation matrix to give a more realistic sense of what this error means. The results show that location estimation using monocular cameras generates an elliptical error distribution around the object with a larger error in the y-pixel direction compared to the x-pixel direction. This error distribution can be important to fuse information from multiple range-detecting sensors as well as multi-vehicle and multi-object tracking. The uncertainty characterization for position measurement, as demonstrated in this paper is an essential element of tracking and, is sensor and algorithm dependent. [ABSTRACT FROM AUTHOR]

Conventional direction-of-arrival (DOA) estimation algorithms like MUSIC only allow localization of fewer number of sources than the number of physical sensors. In this paper, underdetermined azimuth localization (localizing more sources than the number of sensors) using arbitrary planar arrays has been proposed, using only second-order statistics of the received data. To achieve this, we utilize the difference coarray of the actual array and express the elements of the array covariance matrix as the signal received by the virtual sensors of the coarray. We explore the structure and geometry of the difference coarray of an $N$ -element planar array and show that the coarray can provide an increased degree-of-freedom (DOF) of $\mathcal {O}(N^{2})$ which enables underdetermined localization. Then, we extend the manifold separation (MS) technique to the coarray to express the coarray steering matrix in terms of a Vandermonde structured matrix by designing a signal independent coarray characteristic matrix. As the signal model of a coarray is a single snapshot model, the Vandermonde structure enables us to perform a spatial smoothing type operation to restore the rank of the coarray covariance matrix. This allows us to propose a novel subspace-based algorithm, which we call the coarrayMS-MUSIC, to perform underdetermined source localization using arbitrary planar arrays. We have also introduced the polynomial rooting version of our algorithm called the coarrayMS-rootMUSIC. Finally, we have conducted extensive numerical simulations to verify the effectiveness and usefulness of the proposed methods. [ABSTRACT FROM AUTHOR]

In this paper, a model fusion method (MFM) is proposed for online state of charge (SOC) and state of power (SOP) co-estimation of lithium-ion batteries (LIBs) in electric vehicles (EVs). Firstly, a particle swarm optimization-genetic algorithm (PSO-GA) method is cooperated with a 2-RCCPE fractional-order model (FOM) to construct battery open-circuit voltage (OCV)-SOC curve, which only relies on a part of dynamic load profile without the prior knowledge of an initial SOC. Secondly, a dual extended Kalman filter (DEKF) algorithm based on a 1-RC model is employed to identify the model parameters and estimate battery SOC with the extracted OCV-SOC curve. Furthermore, battery polarization dynamics in a SOP prediction window is analyzed from two aspects: (1) self-recovery; and (2) current excitation. They are separately simulated using 2-RCCPE FOM and 1-RC model, and then integrated through a model fusion for online SOP estimation, which enables an analytical expression of battery peak charge/discharge current in a prediction window without weakening the nonlinear characteristic of FOM. Experimental results demonstrate the improved performance of the proposed MFM for online discharge SOP estimation, where the mean absolute error and root mean square error are only 0.288 W and 0.35 W, respectively, under the urban dynamometer driving schedule profile. [ABSTRACT FROM AUTHOR]

This paper presents an enabling comprehensive vehicle stability assessment system covering vehicle longitudinal, yaw and roll stability. First, the longitudinal, lateral and vertical tire forces are separately estimated using the strong tracking unscented Kalman filter and the conventional Kalman filter based on low-cost on-board sensors. Then, a comprehensive vehicle longitudinal, yaw and roll stability space is established by utilizing the normalized tire friction ellipse and the Load Transfer Ratio value. Finally, the vehicle stability is determined and predicted based on current driver's inputs. The hardware-in-loop experimental results show that the proposed vehicle stability assessment system can accurately estimate the longitudinal, lateral and vertical tire forces with the normalized root mean square errors of 1.87 $\%$ , 1.07 $\%$ and 1.43 $\%$ , and exhibits satisfying performance for vehicle longitudinal, yaw and roll stability evaluation and prediction. This bears significance for the efficient functioning of active control systems to improve vehicle safety under critical driving conditions. [ABSTRACT FROM AUTHOR]

Channel estimation is a challenging issue for millimeter wave (mmWave) and massive multiple-input multiple-output (MIMO) in the future sixth generation (6G) wireless systems, where the conventional estimation schemes may fail to track the fast varying channels, especially in high-speed mobile scenarios. In this paper, a novel tensor-based uplink channel estimation scheme is proposed for multi-user MIMO (MU-MIMO) systems over time-varying channels. In the proposed scheme, a low-overhead pilot transmission scheme is designed to track the varying channel. The received uplink signal at the base station (BS) is formulated as a third-order tensor which admits a CANDECOMP/PARAFAC (CP) model. The CP decomposition issue is then solved using blind matrix decomposition, in which the special structures of signals in the time dimension and the matrix subspace are utilized. By exploiting low-rank structure of the signal tensor, the channel parameters (angles of arrival/departure, path gains, and Doppler shifts) are estimated from the factor matrices. Moreover, the proposed scheme is theoretically analyzed and it is guaranteed with low pilot overhead. Simulation results verify that the proposed scheme can outperform the compressed sensing (CS) based scheme and the iteration-based scheme in terms of accuracy and stability. The uniqueness of the proposed scheme is also verified in our simulation. [ABSTRACT FROM AUTHOR]

Direction-of-arrival (DOA) information is vital for multiple-input-multiple-output (MIMO) systems to complete localization and beamforming tasks. Switched antenna arrays have recently emerged as an effective solution to reduce the cost and power consumption of MIMO systems. Switch-based array architectures connect a limited number of radio frequency chains to a subset of the antenna elements forming a subarray. This paper addresses the problem of antenna selection to optimize DOA estimation performance. We first perform a subarray layout alignment process to remove subarrays with identical beampatterns and create a unique subarray set. By using this set, and based on a DOA threshold region performance approximation, we propose two antenna selection algorithms; a greedy algorithm and a deep-learning-based algorithm. The performance of the proposed algorithms is evaluated numerically. The results show a significant performance improvement over selected benchmark approaches in terms of DOA estimation in the threshold region and computational complexity. [ABSTRACT FROM AUTHOR]

Combining a global navigation satellite system (GNSS) and microelectromechanical technology-based inertial system (MINS) has become essential in land vehicle navigation systems. In an urban environment, the error of position output by GNSS receiver increases because of the blocking and reflection of the signal by buildings, which affects the positioning accuracy of the integrated system. In order to improve the positioning accuracy under these scenarios, this paper proposed a new robust method based on the estimation of the standard deviation of GNSS positioning error. In our study, a method for estimating the standard deviation ${\boldsymbol{\sigma}}^p$ (or variance) of the position error of GNSS receiver is firstly proposed. Then a robust filtering method combined multi-factor scaling and bias estimation is proposed based on the estimation of ${\boldsymbol{\sigma}}^p$. The simulations and vehicle navigation test show that the proposed method has a robust positioning effect. When ${\boldsymbol{\sigma}}^p$ increases, the position accuracy is closed to the Sage-Husa filtering method with boundary constraint (SH-KF). Simulations also indicate that the proposed method has better robust effect than the traditional Kalman filter and SH-KF when a large bias error of position exists. [ABSTRACT FROM AUTHOR]

Due to the combined effects of different acoustic propagation, reflection patterns in different time-scale, time-varying underwater acoustic (UWA) channel generally exhibits hybrid sparsity, i.e., contains not only rapidly time-varying elements, but also stationary or slowly time-varying ones. While the classic sparse reconstruction algorithms such as orthogonal matching pursuit (OMP) generally do not take it into account, the existence of static multipath will unavoidably hinder the tracking of rapid time variations. In this paper, a sequential adaptive observation length orthogonal matching pursuit (SAOLOMP) approach is proposed to sequentially explore rapidly time-varying sparsity in a two-step sequential manner. Specifically, the static components are firstly separated via simultaneous orthogonal matching pursuit (SOMP) among continuous measurements. Upon the residual error of the SOMP, the measurement-wise OMP is applied for estimating the remained dynamic components. As the variation of the SOMP residual error indicates how rapidly the remained dynamic multipath components vary, the observation length of the OMP is adjusted according to the gradient of residual error to adapt to rapidly time-varying components. Finally, both types of sparse components are summed up to obtain the whole channel response. Numerical simulations as well as experimental results from field UWA communication data show that the proposed algorithm exhibits better performance in exploiting rapidly time-varying sparsity than the state-of-the-art compressive methods do under UWA channel. [ABSTRACT FROM AUTHOR]

The calibration accuracy of the Doppler Velocity Log (DVL) error directly affects the performance of the SINS/DVL integrated navigation system. Previous studies of DVL calibration have not dealt with DVL measurement outliers. Therefore, in this paper, a novel DVL calibration method is proposed to reduce the influence of outliers on calibration accuracy. Introducing the Lie group theory to the DVL calibration study for the first time, and taking advantage of the Special Orthogonal Group of order 3 [SO(3)] representation, a new DVL calibration model based SO(3) group with the ability to represent large misalignment angles is established. And an invariant extended Kalman filter (IEKF) design for the DVL calibration model is introduced. Then, a robust IEKF is proposed by combining the linear error propagation equation of the SO(3)-based DVL calibration model with the statistical similarity measure (SSM) theory. The proposed robust IEKF algorithm enriches the IEKF theory and has the ability to accurately estimate the state of the Lie group model in outlier environments. The simulation and lake trial are used to illustrate the effectiveness and superiority of the proposed DVL calibration method. [ABSTRACT FROM AUTHOR]

Range-velocity (RV) map (also called the range-Doppler map) is used in radar to detect targets and estimate the range and velocity of the targets. The conventional range-Doppler processing has its limits in attaining a high-resolution RV map with few samples. Moreover, the conventional range-Doppler processing may cause severe range migration problems and bias in the range estimation. In this paper, we propose to attain a high-resolution and accurate RV map with the sparse Bayesian learning (SBL) framework. Unlike the existing works that use the discrete Fourier transform to build the dictionary for sparse representation, we build a dictionary from a model of the wide-band frequency-modulated continuous-wave (FMCW) radar to avoid the model mismatch problem. This dictionary allows for the effective decomposition of the signal and the full utilization of the structure of the signal. In addition, based on the fast marginal likelihood maximization, we also propose a fast method to reduce the computational burden. Simulations show that the proposed method and the proposed fast method are superior in terms of resolution, accuracy, and maximum unambiguous velocity compared with the existing methods. [ABSTRACT FROM AUTHOR]

In connected vehicular networks, it is vital to have vehicular nodes that are capable of sensing surrounding environments and exchanging messages with each other for automating and coordinating purposes. Towards this end, integrated sensing and communication (ISAC), combining both sensing and communication systems to jointly utilize their resources and pursue mutual benefits, emerges as a new cost-effective solution. In ISAC, the hardware and spectrum co-sharing leads to a fundamental tradeoff between sensing and communication performance, which is not well understood except for very simple cases with the same sensing and channel states, and perfect channel state information at the receiver (CSIR). In this paper, a general point-to-point ISAC model is proposed to account for the scenarios where the sensing state is different from but correlated with the channel state, and the CSIR is not necessarily perfect. For the model considered, the optimal tradeoff is characterized by a capacity-distortion function that quantifies the best communication rate for a given sensing distortion constraint requirement. An iterative algorithm is proposed to compute such tradeoff, and a few non-trivial examples are constructed to demonstrate the benefits of ISAC as compared to the separation-based approach. [ABSTRACT FROM AUTHOR]

Recently, research on the design of relay structure and optimal precoding matrix in massive multiple-input multiple-output (MIMO) relay systems has been proposed in many works assuming that partial or all of the channel state information (CSI) is known. However, in the practical communication systems, the CSI is unknown and needs to be estimated. In particular, channel estimation is more difficult when the relay adopts a hybrid precoding structure. In this paper, we propose an efficient channel estimation scheme based on Tucker-2 tensor model for a multi-way massive MIMO hybrid relay system. The proposed algorithm provides all the CSI involved in the communication links at each user end. Compared with traditional channel estimation algorithms, the proposed algorithm has better estimation performance and requires few iterations to achieve convergence. In addition, we derive the analytical expression of the Cramér-Rao lower bound (CRB) for reference. Simulation results verify the effectiveness of the proposed Tucker-2-based channel estimation approach. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the anti-jamming problem of a directional modulation (DM) system with the aid of intelligent reflecting surface (IRS). As an efficient tool to combat malicious jamming, receive beamforming (RBF) is usually designed by using the statistical properties of the jamming received by Bob. Thus, it is very necessary to estimate the receive jamming covariance matrix (JCM) at Bob. To achieve a precise JCM estimation, three JCM estimation methods, including eigenvalue decomposition (EVD), parametric estimation method by gradient descend (PEM-GD) and parametric estimation method by alternating optimization (PEM-AO), are proposed. Here, the proposed EVD is derived according to the rank-2 constraint of JCM. The PEM-GD method fully explores the structure features of JCM and the PEM-AO is proposed to decrease the computational complexity of the former via dimensionality reduction. The simulation results show that the proposed three methods perform better than directly using sample covariance matrix. Additionally, the proposed PEM-GD and PEM-AO outperform EVD method and the clutter and disturbance covariance estimator RCML. [ABSTRACT FROM AUTHOR]

Intelligent reflecting surface (IRS)-enhanced wireless communication is one of the critical technologies of the sixth generation mobile communication, which has recently emerged as an innovative solution to the realization of intelligent transportation. It can meet the increasing demand for high-speed railway (HSR) communications services. In this paper, we consider a train-ground TDD wireless mobile communication paradigm to deploy two IRSs on the roadside and the train roof to assist the wireless transmission for the HSR communication system. To achieve the more significant performance gain, in the uplink transmission phase, we propose the practical channel estimation framework of the MIMO system aided by double IRSs to acquire reliable channel state information (CSI) of each channel. To facilitate the processing of the three-dimension tensor, we leverage the trilinearity of the parallel factor decomposition to decompose the received signal into a two-dimensional matrix. The Doppler frequency offset compensating scheme and channel tracking scheme based on Kalman-Filter are proposed to further decrease the pilot overheads. Then, in the downlink phase, a block coordinate descent (BCD) algorithm is proposed to handle the data rate maximization problem of double IRSs communication system with the estimated CSI. We reformulate the original problem and decouple the double IRSs phase optimization problem into two single IRS phase optimization non-convex problems under the unit-modulus constraint. The Majorization-Minimization (MM) algorithm is proposed to approximate the optimal solution of the two optimization subproblems. Simulation results corroborate the effectiveness of the proposed channel estimation and phase shifts optimization scheme. [ABSTRACT FROM AUTHOR]

Compared to the probability hypothesis density (PHD) and cardinalized PHD (CPHD) filters, the trajectory PHD (TPHD) and trajectory CPHD (TCPHD) filters are for sets of trajectories, and thus are able to produce trajectory estimates with better performance. In this paper, we develop the TPHD and TCPHD filters which can adaptively learn the history of the unknown target detection probability, and therefore they can perform more robustly in scenarios where targets are with unknown and time-varying detection probabilities. These filters are referred to as the unknown TPHD (U-TPHD) and unknown TCPHD (U-TCPHD) filters. By minimizing the Kullback-Leibler divergence (KLD), the U-TPHD and U-TCPHD filters can obtain, respectively, the best Poisson and independent identically distributed (IID) density approximations over a set of augmented trajectories. For computational efficiency, we also propose the U-TPHD and U-TCPHD filters that only consider the unknown detection profile at the current time. Specifically, the Beta-Gaussian mixture method is adopted for the implementations of proposed filters, which are referred to as the BG-U-TPHD and BG-U-TCPHD filters. The $L$ -scan approximations of these filters with much lower computational burden are also presented. Finally, various simulation results demonstrate that the BG-U-TPHD and BG-U-TCPHD filters can achieve robust tracking performance to adapt to unknown detection profile. Besides, it also shows that usually a small value of $L$ in the $L$ -scan approximation has similar performance than with a large value at a fraction of the computational cost. [ABSTRACT FROM AUTHOR]

Conventional direction-of-arrival (DOA) estimation algorithms are sensitive to array imperfections and outliers, making it challenging to realize accurate estimates in real applications. Facing the challenge, we propose a robust variational Bayesian inference based DOA estimation algorithm using the linear sparse array in this paper, where accurate DOA estimation with increased number of degrees of freedom (DOFs) is realized. With the mixture of von Mises model, a prior-grid scheme is further proposed to alleviate the computational burden introduced by the Bayesian variational inference framework. Since there is no restriction on the prior knowledge of the number of sources, the proposed algorithm is friendly to actual scenarios. Simulation results demonstrate the effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]

Cognitive radio networks (CRNs) and millimeter wave (mmWave) communications are two major technologies to enhance the spectrum efficiency (SE). Considering that the SE improvement in the CRNs is limited due to the interference temperature imposed on the primary user (PU), and the severe path loss and high directivity in mmWave communications make it vulnerable to blockage events, we introduce an intelligent reflecting surface (IRS) into mmWave CRNs. Due to the estimation mismatch and the passivity of Eavesdroppers (Eves), perfect channel state information (CSI) of wiretap links is challenging to obtain, which promotes our research on robust secure beamforming (BF) design in the IRS-assisted mmWave CRNs. This paper considers the collaborate scenario of Eves, which allows us to investigate the BF design in the harsh eavesdropping environment. Specifically, by using a uniform linear array (ULA) at the cognitive base station (CBS) and a uniform planar array (UPA) at the IRS, and supposing that imperfect CSIs of angle-of-departures for wiretap links are known, we formulate a constrained problem to maximize the worst-case achievable secrecy rate (ASR) of the secondary user (SU) by jointly designing the transmit BF at the CBS and reflect BF at the IRS. To solve the non-convex problem with coupled variables, an efficient alternating optimization algorithm is proposed. As for the transmit BF at the CBS, we propose a heuristic robust transmit BF algorithm to attain the BF vectors analytically. As for the reflect BF at the IRS, by means of an auxiliary variable, we transform the non-convex problem into a semi-definite programming problem with rank-1 constraint, which is handled with the help of an iterative penalty function, and then obtain the optimal reflect BF through CVX. Finally, simulation results indicate that the ASR performance of our proposed algorithm has a small gap with that of the optimal solution with perfect CSI compared with the other benchmarks. [ABSTRACT FROM AUTHOR]

Advanced driver assistance systems and highly automated driving functions require an enhanced frontal perception system. The requirements of a frontal environment perception system cannot be satisfied by either of the existing automotive sensors. A commonly used sensor cluster for these functions consists of a mono-vision smart camera and automotive radar. The sensor fusion is intended to combine the data of these sensors to perform a robust environment perception. Multi-object tracking algorithms have a suitable software architecture for sensor data fusion. Several multi-object tracking algorithms, such as JPDAF or MHT, have good tracking performance; however, the computational requirements of these algorithms are significant according to their combinatorial complexity. The GM-PHD filter is a straightforward algorithm with favorable runtime characteristics that can track an unknown and time-varying number of objects. However, the conventional GM-PHD filter has a poor performance in object cardinality estimation. This paper proposes a method that extends the GM-PHD filter with an object birth model that relies on the sensor detections and a robust object extraction module, including Bayesian estimation of objects’ existence probability to compensate for drawbacks of the conventional algorithm. [ABSTRACT FROM AUTHOR]

Partially impaired antenna array is one of the challenges for estimating the accurate directions of the signals impinging upon antenna arrays. It causes random loss of the signal information, resulting in the poor direction of arrival (DOA) estimation performance. In this paper, we propose an efficient DOA estimation method under partially impaired antenna array elements, which work randomly. We first devise a strategy to detect the positions of randomly lost signal information corresponding to partially impaired antenna array elements and then formulate the problem of received signal recovery as low rank matrix completion. Afterwards, we utilize the recursive least squares (RLS) with the nulling antenna array for DOA estimation due to its fast convergence and low mean square error properties and place the nulls in the directions of received signals by adjusting the weight vectors adaptively. The reciprocal of the antenna array defines the output spatial spectrum, and the directions of the signals are estimated by finding the high peaks. We also investigate the mean and mean square performance of the RLS after recovering and de-noising the received signal. Simulation results show that the proposed method converges to optimal solution fast and outperforms the existing DOA estimation methods. [ABSTRACT FROM AUTHOR]

The use of the emerging hybrid analog-digital structure for future millimeter-wave communications has attracted much attention. Although this structure can reduce the power consumption considerably, the spatial covariance matrix (SCM), as the core of subspace-based direction of arrival (DOA) estimation algorithms, cannot be obtained directly. The beam sweeping algorithm (BSA) was proposed for SCM reconstruction from compressed measurements. However, the BSA is computationally intensive owing to the high-dimensional matrix-to-matrix multiplication and matrix inversion. To address this issue, a BSA algorithm with high accuracy and low computational-cost using the submatrix multiplication (BSASM) is proposed in this paper. By appropriately adjusting the weight, which consists of a switch and a phase shifter, connected to each antenna, the SCM can be accurately reconstructed with low-dimensional matrix-to-vector multiplication and 2-dimensional matrix inversion, thus reducing the computational-cost significantly. After SCM reconstruction, various DOA estimation algorithms can be exploited to obtain the DOA information. Simulation experiments are conducted to verify the performance of the proposed algorithm. The results indicate that using a substantially lower computational-cost, BSASM can reconstruct SCM more accurately than BSA. [ABSTRACT FROM AUTHOR]

This paper proposed a method for estimating the suspension relative velocity using a single six-dimensional measurement unit attached to a vehicle body. This method can reduce the number of sensors, reduce costs, and address sensor packaging issues. A wheelbase preview assumption is used to overcome the lack of unsprung mass information. The proposed estimation method is verified by the vehicle simulator Carsim and the stability of the estimation method is also analyzed. In addition, the frequency response and the time response of the sky-hook controller based on the estimated relative velocity are compared with the sky-hook controller based on the actual relative velocity. The results show that the proposed estimator produces very robust performance on various road conditions. [ABSTRACT FROM AUTHOR]

In order to improve the trajectory tracking accuracy and vehicle lateral stability, the paper proposes a lateral and longitudinal dynamics control framework of autonomous vehicles considering multi-parameter joint estimation. First, the multi-parameter joint estimation based on adaptive unscented Kalman filter (AUKF) is constructed to decouple and estimate the longitudinal position of vehicle's center of gravity (CG), tire-road friction coefficient (TRFC), tire cornering stiffness (TCS), tire vertical force (TVF) and road grade. Then, focusing on the large lateral acceleration condition, a lateral control based on the optimal front-tire lateral force is proposed by constructing the linear quadratic regulator (LQR) and combining the multi-parameter joint estimation. Additionally, a longitudinal control based on the drive and brake force compensation to realize the accurate speed tracking by combining road slop estimation is achieved. The fuzzy system employs the drive and brake force deviation as the input to implement the compensation of the throttle and brake. The proposed estimation and control framework are verified by co-simulation on PreScan and CarSim preliminarily. In order to further verify the effectiveness and practicability of algorithm, experiments are implemented on an autonomous vehicle platform, a hybrid Lincoln MKZ. Simulation and experimental results show that the proposed estimation and control framework possess excellent performance and enhance the tracking accuracy and lateral stability. [ABSTRACT FROM AUTHOR]

Most of beamforming methods rely on the proper estimation of the steering vectors of the incoming signals in order to calculate appropriate array feeding weights. However, this estimation is often performed on a theoretical basis, since most methods assume that the array elements radiate like isotropic sources and consider only the phase differences between them due to their different spatial positions. This is a rough estimation as it ignores both the non-isotropic radiation pattern of the array elements and the mutual coupling between them. To overcome these limitations, we use a different approach for the construction of steering vectors based on the embedded patterns of the array elements, extracted through full-wave analysis. This approach is used in this paper to modify two well-known beamforming methods, namely the null steering beamforming and the minimum variance distortionless response method. Both modified methods are applied to a realistic model of a microstrip planar antenna array, and thus, both the azimuth and polar angles of the main lobe and nulls directions are controlled (beamforming in 3D space). Extensive statistical analyses are performed by implementing several scenarios of escalating difficulty, in order to examine the performance and temporal response of the modified beamforming methods in comparison to the respective conventional methods and also in comparison to beamforming methods based on evolutionary techniques. [ABSTRACT FROM AUTHOR]

Recently, the reconfigurable intelligent surface (RIS) aided communication system has emerged as a promising candidate for future wireless communications. The existing channel estimation methods for RIS-aided millimeter-wave systems assume that the RIS is ideal without blockage. However, in practice, RIS may be blocked by the rain, snow, or dust, which will cause absorption and scattering of the incident/reflected signals and change the channel characteristics. In this paper, we formulate the system model of RIS-aided multi-user communications considering the blocked RIS. Then, we propose a variational Bayesian based channel estimation algorithm that is robust to RIS blockage, where we can simultaneously estimate the channel information and the RIS blockage. Simulation results demonstrate the superior performance of the proposed algorithm to existing ones. [ABSTRACT FROM AUTHOR]

In this paper, we consider a distributed joint sensing and communication (DJSC) system in which each radar sensor as a JSC node is equipped with a sensing function and a communication function. Deploying multiple JSC nodes may require a large amount of bandwidth. Therefore, we investigate the bandwidth allocation problem for the DJSC system. In particular, we aim to optimize the bandwidth allocation to the sensing function and the communication function of the JSC nodes. To improve the allocation efficiency while benefiting the spatial diversity advantage of the DJSC systems, the objective is to maximize the sum of sensing performances, i.e., estimation rates, communication performances, i.e., communication data rates, and fairness of all the users. The optimization problem is non-convex and difficult to be solved. For this, we propose a fully polynomial time approximation algorithm, and we prove that the approximation algorithm can guarantee a near-optimal solution with an accuracy bound of $\epsilon$. Furthermore, we propose to use a heuristic algorithm with lower complexity. The simulation results show that both the proposed algorithms are able to achieve the solutions close to the optimum in a computationally efficient fashion. [ABSTRACT FROM AUTHOR]

Nowadays, Wi-Fi or Bluetooth based indoor localization algorithms are designed to improve the effects from variation of receive signal strength (RSS) at different locations. However, the positioning accuracy of targeting device is highly related to the indoor topological layout, e.g., the blocking effects from partitioning walls. In this paper we propose a novel skeleton-based positioning and reference point deployment for hybrid wireless localization (S-PDH) that utilizes the spatial skeleton of indoor layout to improve location estimation accuracy. Firstly, we adopt an automatic map analysis algorithm to generate appropriate reference points (RPs) from the spatial skeleton of indoor layout. Secondly, we propose a novel clustering algorithm to consider both spatial layout and RSS information in order to enhance the accuracy of RP matching. Those outlier RPs resulting poor performance will be replaced by appropriate deployment of BLE APs. Finally, the cluster-based positioning algorithm is presented to estimate the target’s location. Compared to existing methods, both the simulation and experimental results show that the proposed S-PDH system can achieve better positioning accuracy along with the benefits of automatically generating the spatial layout information for wireless indoor localization. [ABSTRACT FROM AUTHOR]

Direction finding in bistatic multiple-input multiple-output (MIMO) radar system is an important issue in target localization. Existing works focus on linear array which can only find 1-D angle information. In this paper, we focus on bistatic MIMO radar where both the transmitter and receiver are equipped with uniform planar arrays (UPAs) which can find full angle information of targets. To overcome the gridding effect, we use atomic norm minimization (ANM) to formulate a gridless model which is equivalent to a semidefinite programming (SDP). By solving the SDP we can obtain the angle estimates without discretizing the 4-D angle space. An alternating direction method of multipliers (ADMM) based implementation is also derived to reduce the computational complexity of the proposed method. Simulation results show that our proposed method can break through the gridding limitation to achieve a high estimation accuracy while enjoying low computational complexity. [ABSTRACT FROM AUTHOR]

The available road grade information makes a significant impact on improving the quality of vehicle control. In order to solve the limited application scenario and insufficient accuracy of current road grade estimation methods, this paper presents a novel model-based road grade estimation approach. First, a Quaternion Unscented Kalman Filter (QUKF) using the three-axle angular velocities and three-axle accelerations from a low-cost Inertial Measurement Unit (IMU) and the vehicle speed from CAN bus is designed to estimate the pitch angle of the vehicle. In particular, the measurement noise of UKF is analyzed by integrating Allan variance method. Second, a simplified vehicle-road model is derived to represent the road grade with the estimated pitch angle and longitudinal acceleration. Then, the performance of the proposed algorithm is tested by co-simulation of MATLAB/Simulink and CarSim, which indicates that the error rate of estimation is within 4%. Finally, the feasibility and accuracy of the proposed method implemented in the embedded prototype are verified in experiments conducted on standard slopes. [ABSTRACT FROM AUTHOR]

Traffic awareness is the prerequisite of autonomous driving. Given the limitation of on-board sensors (e.g., precision and price), remote measurement from either infrastructure or other vehicles can improve traffic safety. However, the wireless communication carrying the measurement result undergoes fading, noise and interference and has a certain probability of outage. When the communication fails, the vehicle state can only be predicted by Bayesian filtering with a low precision. Higher communication resource utilization (e.g., transmission power) reduces the outage probability and hence results in an improved estimation precision. The power control subject to an estimate variance constraint is a difficult problem due to the complicated mapping from transmit power to vehicle-state estimate variance. In this paper, we develop an estimator consisting of several Kalman filters (KFs) or extended Kalman filters (EKFs) and an interacting multiple model (IMM) to estimate and predict the vehicle state. We propose to apply deep reinforcement learning (DRL) for the transmit power optimization. In particular, we consider an intersection and a lane-changing scenario and apply proximal policy optimization (PPO) and soft actor-critic (SAC) to train the DRL model. Testing results show satisfactory power control strategies confining estimate variances below given threshold. SAC achieves higher performance compared to PPO. [ABSTRACT FROM AUTHOR]

The robot’s mobility and intelligence have expanded its application in recent years. Specifically, indoor tracking is a fundamental function of public service robots in nursing homes, hospitals, and warehouses. Existing vision-based tracking requires visual information, which may be unavailable and introduce privacy issues in practical deployment. To this end, in this paper, we propose $\mathsf {LTrack}$ , a long-range tracking system based on LoRa, an emerging low-power wide-area networking (LPWAN) technology, with a single transceiver pair. Note that commodity LoRa devices cannot estimate the angle of arrival (AoA) of signals due to hardware limitations. We design a virtual circular antenna array in the mobile rotating anchor via a lightweight hardware modification to multiplex the only RF channel in the low-cost LoRa device. The difference of time of flight (TDoF) measured in the circular antenna array is fused with the rotating orientation to estimate the target AoA. We also redesign and optimize the primitive LoRa ranging engine based on systematic analysis. Further, we present a real-time mobile target tracking algorithm based on the Doppler frequency shift to combat the uncertainty introduced by the target movement. We have developed the prototype of $\mathsf {LTrack}$ , which consists of a mobile rotating anchor, a LoRa tag, and a commercial robot. The system is evaluated in both LOS and NOLS indoor scenarios. Experiments show that $\mathsf {LTrack}$ supports robust tracking with a median error of 0.12 m and 0.45 m in a $\text{137}\,\text{m}^2$ lab space and a $\text{600}\,\text{m}^2$ corridor, respectively. [ABSTRACT FROM AUTHOR]

In this paper, we investigate the problem of joint direction of departure (DoD) and direction of arrival (DoA) estimation with bistatic MIMO radar. Specifically, a weaved co-prime array (WCA) bistatic MIMO (WCA-bMIMO) radar is proposed to produce a hole-free sum-difference co-array, which enables to offer significantly increased degrees of freedom (DoFs) and enlarged array aperture. Moreover, the two-dimensional spatial smoothing method is introduced to construct a smoothed received signal, which helps to tackle the rank deduction problem rooted in the equivalent one-snapshot received signal from the sum-difference co-array. Subsequently, the joint DoD and DoA estimates can be obtained by extracting the three-way tensor model. Furthermore, co-array Cramer-Rao Bound (CRB) for the bistatic co-prime MIMO radar is provided. Finally, the superiorities of the proposed bistatic co-prime MIMO radar in accuracy and resolution are proved by numerical simulation results. [ABSTRACT FROM AUTHOR]

Accurate sensor localization is a crucial requirement for the deployment of underwater acoustic sensor networks (UASNs) in a large variety of applications. However, the asynchronous clock, stratification effect and mobility characteristics of underwater environment make it challenging to realize accurate node localization for UASNs. This paper develops an autonomous underwater vehicle (AUV) aided localization solution for UASNs, subjected to asynchronous clock, stratification effect and mobility constraints in cyber channels. A hybrid architecture including surface buoys, AUVs, active and passive sensor nodes, is first presented to construct a cooperative location-aware network. Then, an iterative least squares estimator is developed for AUVs to capture the unknown water current parameters, through which the relationship between propagation delay and location estimation can be established. With the assistance of AUVs, two asynchronous localization algorithms are designed to estimate the locations of active and passive sensor nodes. Particularly, motion and ray compensation strategies are jointly employed to improve the localization accuracy. It is worth noticing that, the proposed localization algorithms incorporate the current field estimation into the localization process of UASNs, and more importantly, they can eliminate the influences of asynchronous clock, stratification effect and node mobility together. Moreover, performance analyses for the proposed localization solution are also presented. Finally, simulation and experimental results reveal that the node localization accuracy in this paper can be significantly improved as compared with the other works. [ABSTRACT FROM AUTHOR]

Independently on the business case addressed, one of the main drawbacks of the railway use cases that need continuous Global Navigation Satellite Systems data is the lack of availability for the 100% of the time of the journey. Additionally, the integrity assessment of the position estimation given is also mandatory for safety critical applications. Thus, tunnels and multipath effects are one of the most challenging situations for the continuous positioning systems. In this context, an autonomous on-board Complementary Positioning System has been proposed to overcome the limitation of Global Navigation Satellite System based positioning systems. This paper proposes a positioning enhancement solution by means of fusing data from the satellite navigation system and inertial measurement units. That hybrid solution provides higher availability and accuracy to the positioning specially on known blocked scenarios, such as tunnels, or urban canyons, by means of a novel environment aware map aided software technique named Known Blocked Scenarios algorithm… This paper describes the Complementary Positioning System and the field test carried out in a challenging environment to validate the enhancement proposed by the authors, which demonstrate the benefits that this system has in known harsh environments for railways. [ABSTRACT FROM AUTHOR]

This paper presents a modified orthogonal propagator method (OPM) with spline interpolation for direction of arrival (DoA) estimation. The conventional OPM is based on the noise-free signal model. When noise exists, the main contribution of noise (additive temporally and spatially white Gaussian noise) is in the diagonal elements of the data covariance matrix. Therefore, the influence of noise can be minimized by restoring the noise free diagonal elements through an interpolation procedure and the propagator can then be directly extracted from the denoised data covariance matrix, which is the main idea of the proposed method in this paper. The performance of the proposed modified OPM is tested through numerical simulations. Simulation results show that the proposed modified OPM achieves low root-mean square errors (RMSEs) with small computational load in DoA estimation. [ABSTRACT FROM AUTHOR]

In this paper, we quantify the impact of uncertainty in predicted mobility information on the sensing cost of the mobile sensing problem (i.e. sensing of target areas) in vehicular sensor networks. We focus on vehicular sensor networks in which the communication channel is the bottleneck of the system, and sensing the environment is meant to be provided with a minimum load on the communication channel. First, we formulate an opportunistic scheduler, which does not utilize predicted mobility information in the sensing procedure. Then, we formulate a strategic scheduler, which utilizes predicted mobility information in the sensing procedure. After that, we propose two types of noise models that capture the uncertainty in knowing mobility information. We quantify the impact of uncertainty in knowing mobility information on the sensing cost of the strategic scheduler using an independent coverage model. We find that the strategic scheduler outperforms the noise-free opportunistic scheduler even when the strategic scheduler utilizes noisy mobility information up to a certain threshold of noise. This threshold is determined in the paper, and is referred to as the breaking point of the strategic scheduler. Simulation results of the breaking point closely matches our analysis, which demonstrates the correctness of the used analysis methodology. Finally, we use an estimation model for the mobility information between two points on the road, and we propose an algorithm to keep the scheduling scheme below the breaking point. [ABSTRACT FROM AUTHOR]

In this paper, a laser headlight power converter (LHPC) was developed to drive the InGaN-based blue beam laser diode (BBLD). The LHPC was composed of the four–switch step-up step-down converter (FSSUSDC), the FSSUSDC controller, and the current error compensator (CEC). When the BBLD dynamic resistance was increased under the high ambient air temperature, the FSSUSDC operated in the step-down mode, and the CEC employed the proportional-integral control, the BBLD driving current exhibited an ignition current spike, which could destroy the semiconductor material of the BBLD, resulting in optical output power decay. Therefore, a new four-gradation gain (FGG) control method was proposed to mitigate the ignition current spike of the BBLD. This paper presented the BBLD temperature characteristic, an analysis of the LHPC ignition current, a CEC compensation design, and an analysis and design of the FGG control. [ABSTRACT FROM AUTHOR]

The problem of sensor fault estimation has been studied for Unmanned Surface Vehicle (USV) systems in networked environment. Assuming that the process noise is related to the measurement noise and packet loss will occur during the measurement transmission. We use an event-trigger mechanism (ETM) to save communication resources. Accordingly, an observer is proposed to estimate the state and sensor fault, and the trigger threshold is associated with the correlation coefficient. By adjusting the threshold, the observer performance and energy consumption can be balanced in an ideal situation. The observer designed in this paper reduces the effects of correlation noises effectively and good handling network packet losses, and it has been proved that the expected covariance of the estimation error is bounded. Finally, the simulation experiment on the identified model of USV in the laboratory is performed to validate the relevant conclusions. [ABSTRACT FROM AUTHOR]

Most works in the literature on parameter estimation with multiple-input multiple-output (MIMO) systems are limited to estimating only the direction of arrival (DOA), and/or based on the far-field assumption. However, the joint estimation of DOA and range is an important challenge for near-field (NF) applications. In addition, backscatter coefficient estimation, as one of the most important parameters of radar systems, has been neglected in existing works. In this paper, the joint estimation of the DOA, range and reflectivity is presented for a MIMO array in the NF. By employing the symmetry property in the array, first, two special spatial expressions based on fourth-order and second-order statistics from the received data are defined so that the output of the first expression lacks targets’ range information. By collecting the information of all the sensors and calculating all the interactions between the transmit and receive sensors based on the first expression, a spatial cumulant matrix is constructed. In two different approaches, with/without the use of eigendecomposition, the virtual steering vectors are extracted. Next, DOAs are estimated by a one-dimensional (1D) spectral search. The second expression, which contains both angle and range information, is used to construct several covariance submatrices and then to construct a covariance matrix with a size corresponding to the array’s dimensions. Then, corresponding ranges are estimated by employing estimated DOAs, eigendecomposition and 1D spectral searches. Finally, the equations required to estimate the reflectivity are derived. The simulation results show the remarkable performance of the proposed method in terms of computational time and estimation accuracy. [ABSTRACT FROM AUTHOR]

This paper presents a novel estimation and identification approach for lateral vehicle dynamics. The algorithm leverages on a Linear Fraction Transform (LFT) reformulation of vehicle and tyre models, allowing for a simple and computationally efficient inclusion of complex and nonlinear dynamic models, like, for example, two-wheels, four-wheels or single-track as vehicle model, and Pacejka, brush or Fiala as tyre model. As a result, this technique can be easily adopted in the development of an online identification system, able to run on a standard embedded device, implementing a flexible identification procedure that can handle different driving conditions, up to the limits of handling, different vehicle modelling approaches, and different input measurements. Experimental results demonstrate the effectiveness of the proposal, either in a persistent excitation and in a non-persistent excitation scenario. [ABSTRACT FROM AUTHOR]

We recently proposed a direction-of-arrival (DOA) estimation method for the coexistence of uncorrelated and coherent signals, which is related to the uniform linear antenna arrays with mutual coupling (MC) in the presence of unknown nonuniform noise. This technique, however, relies on the assumption of mixed signals and is not suitable for scenarios with purely coherent signals. This paper extends the mixed signal scenario to the purely coherent signals one on one hand, and on the other hand, allows us to directly adopt the ESPPRIT algorithm to perform DOA estimation in MC environments. To be specific, with the help of the least squares (LS) criterion, the nonuniform noise is first eliminated, and the traditional middle subarray scheme can then be employed to be immune to the influence of MC. Unlike the former operation, following a different line of attack the latter can make full use of the whole array and provide a larger array antenna aperture. Furthermore, we derive a new strategy to directly determine the DOAs without taking MC into account and performing spectral search. This brings substantial benefits to the DOA estimation accuracy and computational cost. The superiority of the proposed approaches is verified by numerical examples. [ABSTRACT FROM AUTHOR]

This paper presents a design of driveline torque observer with dual clutch transmission (DCT). A goal of this study is to improve estimation performance of the observer. To increase the observer’s performance, it is important to make an accurate driveline model and a robust observer. First, to increase the accuracy of the model, we propose lumped driveline efficiency which is a parameter that expresses driveline transmission loss. In addition, a recursive least square estimation (RLSE) algorithm is proposed to estimate the parameter using driving data. Then, the model is updated using the estimated parameter value. Second, a reduced order observer is proposed to estimate transmitted torques of driveline in both driving and gear shifting process. Moreover, the observer, which is robust against measurement noise and disturbance, is designed through frequency domain analysis. For frequency domain analysis, an eigenstructure assignment method is applied to tune observer gains. Performance of the proposed RLSE algorithm and the observer are verified through simulation and testbench experiments. [ABSTRACT FROM AUTHOR]

Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such as multipath effects and non-line-of-sight (NLOS) receptions arising from signal reflections of buildings. Inspired by the advantage of batch historical data in resisting outlier measurements, in this paper, we propose a graduated non-convexity factor graph optimization (FGO-GNC) to improve the GNSS positioning performance, where the impact of GNSS outliers is mitigated by estimating the optimal weightings of GNSS measurements. Different from the existing local solutions, the proposed FGO-GNC employs the non-convex Geman McClure (GM) function to globally estimate the weightings of GNSS measurements via a coarse-to-fine relaxation. The effectiveness of the proposed method is verified through several challenging datasets collected in urban canyons of Hong Kong using automobile level and low-cost smartphone level GNSS receivers. [ABSTRACT FROM AUTHOR]

The impulsive noise and the time-varying channel are two major detrimental factors which greatly constrain the performance of underwater acoustic communications (UACs). Utilizing the joint sparsity of the impulsive noise and the channel impulse response, the paper proposes the generalized approximate message passing (GAMP)-based sparse Bayesian learning (SBL) frameworks for joint impulsive noise mitigation and channel estimation and tracking for orthogonal frequency division multiplexing (OFDM) UACs. Firstly, the SBL framework for the joint estimation is employed. To reduce the computational complexity, the GAMP is introduced into the expectation-maximization (EM) algorithm, and a low-complexity GAMP based SBL framework is formulated without performance degradation. To further estimate and track the impulsive noise and channel state information in the slow time-varying scenarios, we propose a novel GAMP-based temporal SBL framework. The factor graph and GAMP are used to achieve the approximated estimation for the posterior statistics of both the channel state information and the impulsive noise. The algorithm formulates the message passing scheduling for the EM algorithm to solve the joint multiple sparse signal recovery problem. Simulations and sea-trial results demonstrate that the proposed algorithms significantly improve the performance in terms of the mean square error of channel estimation, impulsive noise estimation, bit error rate and computational complexity compared with their corresponding SBL-based counterparts. [ABSTRACT FROM AUTHOR]

In this paper, we introduce channel prediction to wireless communications aided by intelligent reflecting surface (IRS) in order to reduce the overhead brought by full channel estimation. Hopefully, fine-grained control of reflection coefficients on IRS can still be maintained with sufficiently accurate channel prediction. Innovatively, we consider channel prediction as an analogy to image super-resolution in computer vision since elements on an IRS are normally two-dimensionally arranged, which makes the popular deep learning techniques efficient solution. To this end, we first solve the element control problem via semi-definite relaxation (SDR) and then design an end-to-end deep-learning model for channel prediction. With estimation for only part of the entire channel state information (CSI), the total channel estimation overhead can be significantly reduced. We visually show that the purposed deep-learning model maintains considerably high accuracy for channel prediction, which makes the proposed channel-prediction method outperforms the existing group-based method in terms of achievable rate. Moreover, the tradeoff between channel estimation overhead and channel prediction accuracy is also investigated with numerical results. [ABSTRACT FROM AUTHOR]

For the purpose of locating the orthogonal frequency division multiplexing (OFDM) signal emitter efficiently and accurately in multipath environment, an innovative direction position determination (DPD) algorithm based on the multiple carrier characteristic of OFDM signals is proposed in this paper. The time of the arrival (TOA), angle of arrival (AOA) and Doppler frequency shift information contained in the observed data are jointly employed to locate the emitter. High-dimensional search can be avoided by decoupling unknown parameters and the estimation performance is improved due to the expansion of the subspace. The compact closed-form expressions of the Cramer-Rao lower bound (CRLB) corresponding to the parameters of interest are also derived. Simulation results show that compared with the traditional DPD based on MUSIC algorithm, the localization performance of the proposed algorithm can attain the CRLB at higher noise levels. [ABSTRACT FROM AUTHOR]

Accurate state of energy (SOE) estimation of the battery pack is very important for the electric vehicle's driving range estimation, which is still a very challenging problem under actual vehicle application conditions at present. This paper proposes a method for estimating the SOE of the battery pack based on prediction, taking into account the future voltage and temperature changes of the battery pack. Firstly, a novel definition of the battery pack SOE is proposed, which considers the inconsistency of the battery pack. Secondly, the thermo-electric lumped parameter equivalent circuit model of a single cell in the battery pack is applied. The electrical parameters are identified using the forgetting factor recursive least-squares algorithm, and the extended Kalman filter is used to estimate the SOC of each cell. Finally, the future current, voltage and temperature response of the cell in the battery pack are accurately predicted and iterative calculations are performed to get SOE under the condition that the future output power of the battery pack is predicted by the Markov chain model method. The effectiveness of the proposed method is verified under dynamic conditions at different temperatures. The results show that the above method has high precision and good robustness, and can meet the needs of actual vehicle applications. [ABSTRACT FROM AUTHOR]

Integrated sensing and communication (ISAC) technique has been viewed as a promising component in future network. A major challenge for ISAC systems is that the constraint introduced by sensing functionality will constrain the degrees of freedom in waveform design and results in large multi-user interference (MUI), thus degrading the communication performance. In this paper, we study the employment of RIS in mitigating MUI in ISAC systems. For practical consideration, we investigate joint constant-modulus waveform and discrete RIS phase shift design, with the aim of minimizing MUI under the Cramer-Rao bound (CRB) constraint for direction of arrival (DOA) estimation. An alternating optimization algorithm is proposed to solve the formulated problem, and two schemes are proposed to deal with the discrete RIS phase shifts. Simulation results show that the proposed algorithm can dramatically improve the sum rate, and the performance under moderate phase shift quantization level is close to that under continuous phase shifts. [ABSTRACT FROM AUTHOR]

Due to the fact that most user equipments (UEs) do not have enough computation power, time-sensitive tasks should be offloaded to other computation resources. In such cases, a cloud is an ideal destination to which computation tasks can be offloaded because of its huge data processing power. However, the distance between a UE and the cloud may increase the latency of data transmission. At the same time, edges and vehicular-fogs (consisting of electric vehicles with computing resources) are closer to UEs and mostly remain under-utilized. To address this issue, a federated architecture with UEs, vehicular-fogs (parking lot fog and traffic intersection fog), edges, and cloud is proposed along with a probabilistic offloading strategy. The quality of service (QoS) violation probability can be minimized by finding the optimal offloading probabilities while satisfying the delay constraint through an optimal offloading probability estimation algorithm based on the subgradient method proposed in this paper. Our results show that the QoS violation probability and the average waiting time can be decreased by 10%-12% and 45%, respectively, for a federated architecture with two vehicular-fogs as compared to an architecture without any fogs. As offloading to edges and cloud has longer communication delays than offloading to vehicular-fogs, the offloading probabilities to the edges in the architecture with two vehicular-fogs in the case of heavy traffic are reduced by nearly 35% as compared to the architecture without any fogs. [ABSTRACT FROM AUTHOR]

IEEE 802.11p standard defines wireless technology protocols that enable vehicular transportation and manage traffic efficiency. A major challenge in the development of this technology is ensuring communication reliability in highly dynamic vehicular environments, where the wireless communication channels are doubly selective, thus making channel estimation and tracking a relevant problem to investigate. In this paper, a novel deep learning (DL)-based weighted interpolation estimator is proposed to accurately estimate vehicular channels especially in high mobility scenarios. The proposed estimator is based on modifying the pilot allocation of the IEEE 802.11p standard so that more transmission data rates are achieved. Extensive numerical experiments demonstrate that the developed estimator significantly outperforms the recently proposed DL-based frame-by-frame estimators in different vehicular scenarios, while substantially reducing the overall computational complexity. [ABSTRACT FROM AUTHOR]