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Paper Abstract and Keywords
Presentation 2026-06-18 16:10
Study on High-Precision V2X Millimeter-Wave Beam Tracking Method Based on Map Matching Using Heading Information
Kota Shinji, Eiji Okamoto (Nitech) RCS2026-67
Abstract (in Japanese) (See Japanese page) 
(in English) In recent years, research on vehicle-to-everything (V2X) communication—which connects vehicles with their surroundings—has been advancing toward the practical implementation of fully autonomous driving. Because autonomous driving requires high-speed communication, the use of the millimeter-wave band, which can provide sufficient bandwidth, is being considered; however, this band suffers from significant path loss. As one solution to this problem, the application of beamforming—a technique that concentrates power in a specific direction—to vehicles is being explored. Conventional methods have improved beam tracking accuracy by combining map matching (MM) with state estimation using an extended Kalman filter (EKF) and vehicle information obtained from sensors. Furthermore, methods have been proposed that adaptively control the beamwidth based on estimation errors. However, there was a problem where antenna gain decreased in sections with large angular changes, such as during turns, or in environments with poor GPS accuracy. Therefore, this paper proposes a new MM method that incorporates vehicle heading information. Instead of determining a single candidate point, the MM representative point is calculated as a weighted average based on the likelihood of each candidate point. Furthermore, based on the uncertainty of the MM representative point derived from the spread of the candidate points, the EKF estimated position and the MM representative point are appropriately weighted and fused to further improve position estimation accuracy. Numerical simulations demonstrate that this approach achieves an improvement of up to 8 dB.
Keyword (in Japanese) (See Japanese page) 
(in English) 5G / millimeter-wave / beam forming / autonomous driving / map matching / / /  
Reference Info. IEICE Tech. Rep., vol. 126, no. 72, RCS2026-67, pp. 236-241, June 2026.
Paper # RCS2026-67 
Date of Issue 2026-06-10 (RCS) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF RCS2026-67

Conference Information
Committee RCS  
Conference Date 2026-06-17 - 2026-06-19 
Place (in Japanese) (See Japanese page) 
Place (in English) The Ohama Nobumoto Memorial Hall 
Topics (in Japanese) (See Japanese page) 
Topics (in English) First Presentation in IEICE Technical Committee, Resource Control, Scheduling, Wireless Communications, etc. 
Paper Information
Registration To RCS 
Conference Code 2026-06-RCS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Study on High-Precision V2X Millimeter-Wave Beam Tracking Method Based on Map Matching Using Heading Information 
Sub Title (in English)  
Keyword(1) 5G  
Keyword(2) millimeter-wave  
Keyword(3) beam forming  
Keyword(4) autonomous driving  
Keyword(5) map matching  
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Keyword(8)  
1st Author's Name Kota Shinji  
1st Author's Affiliation Nagoya Institute of Technology (Nitech)
2nd Author's Name Eiji Okamoto  
2nd Author's Affiliation Nagoya Institute of Technology (Nitech)
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Speaker Author-1 
Date Time 2026-06-18 16:10:00 
Presentation Time 10 minutes 
Registration for RCS 
Paper # RCS2026-67 
Volume (vol) vol.126 
Number (no) no.72 
Page pp.236-241 
#Pages 6 
Date of Issue 2026-06-10 (RCS) 

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