A Framework for Active Learning of Beam Alignment in Vehicular Millimeter Wave Communications by Onboard Sensors
|
摘要
Estimating time-selective millimeter wave wireless channels and then deriving the optimum beam alignment for directional antennas is a challenging task. To solve this problem, one can focus on tracking the strongest multipath components(MPCs). Aligning antenna beams with the tracked MPCs increases the channel coherence time by several orders of magnitude. This contribution suggests tracking the MPCs geometrically. The derived geometric tracker is based on algorithms known as Doppler bearing tracking. A recent work on geometric-polar tracking is reformulated into an efficient recursive version. If the relative position of the MPCs is known, all other sensors on board a vehicle, e.g., lidar,radar, and camera, will perform active learning based on their own observed data. By learning the relationship between sensor data and MPCs, onboard sensors can participate in channel tracking. Joint tracking of many integrated sensors will increase the reliability of MPC tracking.
Estimating time-selective millimeter wave wireless channels and then deriving the optimum beam alignment for directional antennas is a challenging task. To solve this problem, one can focus on tracking the strongest multipath components(MPCs). Aligning antenna beams with the tracked MPCs increases the channel coherence time by several orders of magnitude. This contribution suggests tracking the MPCs geometrically. The derived geometric tracker is based on algorithms known as Doppler bearing tracking. A recent work on geometric-polar tracking is reformulated into an efficient recursive version. If the relative position of the MPCs is known, all other sensors on board a vehicle, e.g., lidar,radar, and camera, will perform active learning based on their own observed data. By learning the relationship between sensor data and MPCs, onboard sensors can participate in channel tracking. Joint tracking of many integrated sensors will increase the reliability of MPC tracking.
Estimating time-selective millimeter wave wireless channels and then deriving the optimum beam alignment for directional antennas is a challenging task. To solve this problem, one can focus on tracking the strongest multipath components(MPCs). Aligning antenna beams with the tracked MPCs increases the channel coherence time by several orders of magnitude. This contribution suggests tracking the MPCs geometrically. The derived geometric tracker is based on algorithms known as Doppler bearing tracking. A recent work on geometric-polar tracking is reformulated into an efficient recursive version. If the relative position of the MPCs is known, all other sensors on board a vehicle, e.g., lidar,radar, and camera, will perform active learning based on their own observed data. By learning the relationship between sensor data and MPCs, onboard sensors can participate in channel tracking. Joint tracking of many integrated sensors will increase the reliability of MPC tracking.
引文
[1]AKIHITO K,KATSUYOSHI S,FUJISE M,et al.Propagation Characteristics of 60-GHz Millimeter Waves for ITS Inter-Vehicle Communications[J].IEICETransactions on Communications,2001,84(9):2530-2539
[2]MEINEL H,PLATTNER A.Millimeter-Wave Propagation along Railway Lines[J].IEE Proceedings F(Communications,Radar and Signal Processing),1983,130(7):688.DOI:10.1049/ip-f-1.1983.0102
[3]VA V,SHIMIZU T,BANSAL G,et al.Millimeter Wave Vehicular Communications:A Survey[J].Foundations and Trends in Networking,2016,10(1):1-113.DOI:10.1561/1300000054
[4]KUMARI P,CHOI J,GONZALEZ-PRELCIC N,et al.IEEE 802.11ad-Based Radar:An Approach to Joint Vehicular Communication-Radar System[J].IEEETransactions on Vehicular Technology,2018,67(4):3012-3027.DOI:10.1109/tvt.2017.2774762
[5]CHOI J,VA V,GONZALEZ-PRELCIC N,et al.Millimeter-Wave Vehicular Communication to Support Massive Automotive Sensing[J].IEEE Communications Magazine,2016,54(12):160-167.DOI:10.1109/mcom.2016.1600071cm
[6]LORCA J,HUNUKUMBURE M,WANG Y.On Overcoming the Impact of Doppler Spectrum in Millimeter-Wave V2I Communications[C]//2017 IEEE Globecom Workshops.Singapore,Singapore,2017:1-6.DOI:10.1109/GLO-COMW.2017.8269039
[7]VA V,CHOI J,HEATH R W.The Impact of Beamwidth on Temporal Channel Variation in Vehicular Channels and Its Implications[J].IEEE Transactions on Vehicular Technology,2017,66(6):5014-5029.DOI:10.1109/tvt.2016.2622164
[8]Z?CHMANN E,HOFER M,LERCH M,et al.Statistical Evaluation of Delay and Doppler Spread in 60 GHz Vehicle-To-Vehicle Channels during Overtaking[C]//2018 IEEE-APS Topical Conference on Antennas and Propagation in Wireless Communications(APWC),Cartagena des Indias,Colombia,2018:1-4.DOI:10.1109/APWC.2018.8503750
[9]ZOCHMANN E,HOFER M,LERCH M,et al.Position-Specific Statistics of 60GHz Vehicular Channels during Overtaking[J].IEEE Access,2019,7:14216-14232.DOI:10.1109/access.2019.2893136
[10]GAO X Y,DAI L L,ZHANG Y,et al.Fast Channel Tracking for Terahertz Beamspace Massive MIMO Systems[J].IEEE Transactions on Vehicular Technology,2017,66(7):5689-5696.DOI:10.1109/tvt.2016.2614994
[11]JAYAPRAKASAM S,MA X X,CHOI J W,et al.Robust Beam-Tracking for mmWave Mobile Communications[J].IEEE Communications Letters,2017,21(12):2654-2657.DOI:10.1109/lcomm.2017.2748938
[12]LI J H,SUN Y,XIAO L M,et al.Analog Beam Tracking in Linear Antenna Arrays:Convergence,Optimality,and Performance[C]//51st Asilomar Conference on Signals,Systems,and Computers.Pacific Grove,USA,2017:1193-1198.DOI:10.1109/ACSSC.2017.8335540
[13]LI J H,SUN Y,XIAO L M,et al.Super Fast Beam Tracking in Phased Antenna Arrays:Theory and Performance[EB/OL].(2017-10-22).https://arxiv.org/abs/1710.07873
[14]LI J H,SUN Y,XIAO L M,et al.How to Mobilize Mmwave:A Joint Beam and Channel Tracking Approach[C]//IEEE International Conference on Acoustics,Speech and Signal Processing(ICASSP).Calgary,Canada,2018:3624-3628.DOI:10.1109/ICASSP.2018.8461760
[15]LOCH A,ASADI A,SIM G H,et al.Mm-Wave on Wheels:Practical 60 GHz Vehicular Communication without Beam Training[C]//9th International Conference on Communication Systems and Networks(COMSNETS).Bangalore,India,2017:1-8.DOI:10.1109/COMSNETS.2017.7945351
[16]PALACIOS J,DE DONNO D,WIDMER J.Tracking mm-Wave Channel Dynamics:Fast Beam Training Strategies under Mobility[C]//IEEE Conference on Computer Communications(INFOCOM).Atlanta,USA,2017:1-9.DOI:10.1109/INFOCOM.2017.8056991
[17]RODRíGUEZ-FERNáNDEZ J,GONZáIEZ-PRELCIC N,HEATH R W.Frequency-Domain Wideband Channel Estimation and Tracking for Hybrid MIMOSystems[C]//51st Asilomar Conference on Signals,Systems,and Computers.Pacific Grove,USA,2017:1829-1833.DOI:10.1109/ACSSC.2017.8335678
[18]VA V,VIKALO H,HEATH R W.Beam Tracking for Mobile Millimeter Wave Communication Systems[C]//IEEE Global Conference on Signal and Information Processing(GlobalSIP).Washington,DC,USA,2016:743-747.DOI:10.1109/GlobalSIP.2016.7905941
[19]ZHANG C,GUO D N,FAN P Y.Tracking Angles of Departure and Arrival in a Mobile Millimeter Wave Channel[C]//IEEE International Conference on Communications(ICC).Kuala Lumpur,Malaysia,2016:1-6.DOI:10.1109/ICC.2016.7510902
[20]ZHAO J W,GAO F F,JIA W M,et al.Angle Domain Hybrid Precoding and Channel Tracking for Millimeter Wave Massive MIMO Systems[J].IEEETransactions on Wireless Communications,2017,16(10):6868-6880.DOI:10.1109/twc.2017.2732405
[21]ZHOU Y F,YIP P C,LEUNG H.Tracking the Direction-Of-Arrival of Multiple Moving Targets by Passive Arrays:Algorithm[J].IEEE Transactions on Signal Processing,1999,47(10):2655-2666.DOI:10.1109/78.790648
[22]Z?CHMANN E,CABAN S,LERCH M,et al.Resolving the Angular Profile of60 GHz Wireless Channels by Delay-Doppler Measurements[C]//IEEE Sensor Array and Multichannel Signal Processing Workshop(SAM).Rio de Janerio,Brazil,2016:1-5.DOI:10.1109/SAM.2016.7569652
[23]Z?CHMANN E,MECKLENBR?UKER C F,LERCH M,et al.Measured Delay and Doppler Profiles of Overtaking Vehicles at 60 GHz[C]//12th European Conference on Antennas and Propagation(EuCAP).London,UK:1-5,2018.DOI:10.1049/cp.2018.0470
[24]ZENG Y,ZHANG R.Millimeter Wave MIMO with Lens Antenna Array:A New Path Division Multiplexing Paradigm[J].IEEE Transactions on Communications,2016,64(4):1557-1571.DOI:10.1109/tcomm.2016.2533490
[25]CHAN Y T,RUDNICKI S W.Bearings-Only and Doppler-Bearing Tracking Using Instrumental Variables[J].IEEE Transactions on Aerospace and Electronic Systems,1992,28(4):1076-1083.DOI:10.1109/7.165369
[26]HO K C,CHAN Y T.An Asymptotically Unbiased Estimator for Bearings-Only and Doppler-Bearing Target Motion Analysis[J].IEEE Transactions on Signal Processing,2006,54(3):809-822.DOI:10.1109/tsp.2005.861776
[27]HO K C,CHAN Y T.Geometric-Polar Tracking from Bearings-Only and Doppler-Bearing Measurements[J].IEEE Transactions on Signal Processing,2008,56(11):5540-5554.DOI:10.1109/tsp.2008.928701
[28]RAO S K.Pseudo-Linear Estimator for Bearings-Only Passive Target Tracking[J].IEE Proceedings-Radar,Sonar and Navigation,2001,148(1):16.DOI:10.1049/ip-rsn:20010144
[29]ALIEIEV R,HEHN T,KWOCZEK A,et al.Predictive Communication and Its Application to Vehicular Environments:Doppler-Shift Compensation[J].IEEETransactions on Vehicular Technology,2018,67(8):7380-7393.DOI:10.1109/tvt.2018.2835662
[30]GONZALEZ-PRELCIC N,ALI A,VA V,et al.Millimeter-Wave Communication with Out-Of-Band Information[J].IEEE Communications Magazine,2017,55(12):140-146.DOI:10.1109/mcom.2017.1700207
[31]DANIELS R C,CARAMANIS C M,HEATH R W.Adaptation in Convolutionally Coded MIMO-OFDM Wireless Systems through Supervised Learning and SNR Ordering[J].IEEE Transactions on Vehicular Technology,2010,59(1):114-126.DOI:10.1109/tvt.2009.2029693
[32]DJOUAMA A,Z?CHMANN E,PRATSCHNER S,et al.Predicting CSI for Link Adaptation Employing Support Vector Regression for Channel Extrapolation[C]//20th International ITG Workshop on Smart Antennas(WSA 2016).Munich,Germany,2016:1-7
[33]VA V,CHOI J,SHIMIZU T,et al.Inverse Multipath Fingerprinting for Millimeter Wave V2I Beam Alignment[J].IEEE Transactions on Vehicular Technology,2018,67(5):4042-4058.DOI:10.1109/tvt.2017.2787627
[34]Z?CHMANN E,VA V,RUPP M,et al.Geometric Tracking of Vehicular mmWave Channels to Enable Machine Learning of Onboard Sensors[C]//2018IEEE Globecom Workshops.Abu Dhabi,United Arab Emirates,2018:1-6.DOI:10.1109/GLOCOMW.2018.8644440
[35]TAHAT A,KADDOUM G,YOUSEFI S,et al.A Look at the Recent Wireless Positioning Techniques with a Focus on Algorithms for Moving Receivers[J].IEEE Access,2016,4:6652-6680.DOI:10.1109/access.2016.2606486
[36]SHAHMANSOORI A,GARCIA G E,DESTINO G,et al.Position and Orientation Estimation through Millimeter-Wave MIMO in 5G Systems[J].IEEETransactions on Wireless Communications,2018,17(3):1822-1835.DOI:10.1109/twc.2017.2785788
[37]TRULLENQUE ORTIZ M,et al.Vehicle Tracking Through Vision-Millimeter Wave Doppler Shift Fusion[Z].to be published at IEEE-APS APWC,2019.
[38]HOANG M G,DENIS B,H?RRI J,et al.(2015).Distributed Link Selection and Data Fusion for Cooperative Positioning in GPS-Aided IEEE 802.11p VANETs[C]//12th Workshop on Positioning,Navigation and Communication.Dresden,Germany,2015
[39]COHN D,GHAHRAMANI Z,JORDAN M J.Active Learning with Statistical Models[J].Journal of Artificial Intelligence Research,1996,4:129-145.DOI:10.1613/jair.295
[40]COHN D,ATLAS L,LADNER R.Improving Generalization with Active Learning[J].Machine Learning,1994,15(2):201-221.DOI:10.1007/bf00993277
[41]SETTLES B.Active Learning Literature Survey[R/OL].(2010-01-26).http://burrsettles.com/pub/settles.activelearning.pdf
[42]ROCKL M,STRANG T,KRANZ M.V2V Communications in Automotive MultiSensor Multi-Target Tracking[C]//IEEE 68th Vehicular Technology Conference.Calgary,Canada,2008:1-5.DOI:10.1109/VETECF.2008.440
[43]GRZYWACZEWSKI A.NVIDIA Corporation:Training AI for Self-Driving Vehicles:the Challenge of Scale[R/OL].(2017).https://devblogs.nvidia.com/parallelforall/training-self-driving-vehicles-challenge-scale
[44]LIU S S,TANG J,ZHANG Z,et al.Computer Architectures for Autonomous Driving[J].Computer,2017,50(8):18-25.DOI:10.1109/mc.2017.3001256
[45]HUANG C,LU R X,CHOO K-K R.Vehicular Fog Computing:Architecture,Use Case,and Security and Forensic Challenges[J].IEEE Communications Magazine,2017,55(11):105-111.DOI:10.1109/mcom.2017.1700322
[46]KONG L H,KHAN M K,WU F,et al.Millimeter-Wave Wireless Communications for IoT-Cloud Supported Autonomous Vehicles:Overview,Design,and Challenges[J].IEEE Communications Magazine,2017,55(1):62-68.DOI:10.1109/mcom.2017.1600422cm
[47]CARROLL R J,RUPPERT D,CRAINICEANU C M,et al.Measurement Error in Nonlinear Models:A Modern Perspective[M].London,UK:Chapman and Hall/CRC,2006
[48]BATTISTELLI G,CHISCI L,FANTACCI C,et al.Networked Target Tracking with Doppler Sensors[J].IEEE Transactions on Aerospace and Electronic Systems,2015,51(4):3294-3306.DOI:10.1109/taes.2015.140340
[49]HASSIBI B,SAYED A H,KAILATH T.Indefinite-Quadratic Estimation and Control:A Unified Approach to H2 and H-infinity Theories[M].Philadelphia,USA:SIAM,1999:vol 16
[50]KAILATH T,SAYED A H,HASSIBI B.Linear Estimation[M].Upper Saddle River,USA:Prentice Hall,2000
[2]MEINEL H,PLATTNER A.Millimeter-Wave Propagation along Railway Lines[J].IEE Proceedings F(Communications,Radar and Signal Processing),1983,130(7):688.DOI:10.1049/ip-f-1.1983.0102
[3]VA V,SHIMIZU T,BANSAL G,et al.Millimeter Wave Vehicular Communications:A Survey[J].Foundations and Trends in Networking,2016,10(1):1-113.DOI:10.1561/1300000054
[4]KUMARI P,CHOI J,GONZALEZ-PRELCIC N,et al.IEEE 802.11ad-Based Radar:An Approach to Joint Vehicular Communication-Radar System[J].IEEETransactions on Vehicular Technology,2018,67(4):3012-3027.DOI:10.1109/tvt.2017.2774762
[5]CHOI J,VA V,GONZALEZ-PRELCIC N,et al.Millimeter-Wave Vehicular Communication to Support Massive Automotive Sensing[J].IEEE Communications Magazine,2016,54(12):160-167.DOI:10.1109/mcom.2016.1600071cm
[6]LORCA J,HUNUKUMBURE M,WANG Y.On Overcoming the Impact of Doppler Spectrum in Millimeter-Wave V2I Communications[C]//2017 IEEE Globecom Workshops.Singapore,Singapore,2017:1-6.DOI:10.1109/GLO-COMW.2017.8269039
[7]VA V,CHOI J,HEATH R W.The Impact of Beamwidth on Temporal Channel Variation in Vehicular Channels and Its Implications[J].IEEE Transactions on Vehicular Technology,2017,66(6):5014-5029.DOI:10.1109/tvt.2016.2622164
[8]Z?CHMANN E,HOFER M,LERCH M,et al.Statistical Evaluation of Delay and Doppler Spread in 60 GHz Vehicle-To-Vehicle Channels during Overtaking[C]//2018 IEEE-APS Topical Conference on Antennas and Propagation in Wireless Communications(APWC),Cartagena des Indias,Colombia,2018:1-4.DOI:10.1109/APWC.2018.8503750
[9]ZOCHMANN E,HOFER M,LERCH M,et al.Position-Specific Statistics of 60GHz Vehicular Channels during Overtaking[J].IEEE Access,2019,7:14216-14232.DOI:10.1109/access.2019.2893136
[10]GAO X Y,DAI L L,ZHANG Y,et al.Fast Channel Tracking for Terahertz Beamspace Massive MIMO Systems[J].IEEE Transactions on Vehicular Technology,2017,66(7):5689-5696.DOI:10.1109/tvt.2016.2614994
[11]JAYAPRAKASAM S,MA X X,CHOI J W,et al.Robust Beam-Tracking for mmWave Mobile Communications[J].IEEE Communications Letters,2017,21(12):2654-2657.DOI:10.1109/lcomm.2017.2748938
[12]LI J H,SUN Y,XIAO L M,et al.Analog Beam Tracking in Linear Antenna Arrays:Convergence,Optimality,and Performance[C]//51st Asilomar Conference on Signals,Systems,and Computers.Pacific Grove,USA,2017:1193-1198.DOI:10.1109/ACSSC.2017.8335540
[13]LI J H,SUN Y,XIAO L M,et al.Super Fast Beam Tracking in Phased Antenna Arrays:Theory and Performance[EB/OL].(2017-10-22).https://arxiv.org/abs/1710.07873
[14]LI J H,SUN Y,XIAO L M,et al.How to Mobilize Mmwave:A Joint Beam and Channel Tracking Approach[C]//IEEE International Conference on Acoustics,Speech and Signal Processing(ICASSP).Calgary,Canada,2018:3624-3628.DOI:10.1109/ICASSP.2018.8461760
[15]LOCH A,ASADI A,SIM G H,et al.Mm-Wave on Wheels:Practical 60 GHz Vehicular Communication without Beam Training[C]//9th International Conference on Communication Systems and Networks(COMSNETS).Bangalore,India,2017:1-8.DOI:10.1109/COMSNETS.2017.7945351
[16]PALACIOS J,DE DONNO D,WIDMER J.Tracking mm-Wave Channel Dynamics:Fast Beam Training Strategies under Mobility[C]//IEEE Conference on Computer Communications(INFOCOM).Atlanta,USA,2017:1-9.DOI:10.1109/INFOCOM.2017.8056991
[17]RODRíGUEZ-FERNáNDEZ J,GONZáIEZ-PRELCIC N,HEATH R W.Frequency-Domain Wideband Channel Estimation and Tracking for Hybrid MIMOSystems[C]//51st Asilomar Conference on Signals,Systems,and Computers.Pacific Grove,USA,2017:1829-1833.DOI:10.1109/ACSSC.2017.8335678
[18]VA V,VIKALO H,HEATH R W.Beam Tracking for Mobile Millimeter Wave Communication Systems[C]//IEEE Global Conference on Signal and Information Processing(GlobalSIP).Washington,DC,USA,2016:743-747.DOI:10.1109/GlobalSIP.2016.7905941
[19]ZHANG C,GUO D N,FAN P Y.Tracking Angles of Departure and Arrival in a Mobile Millimeter Wave Channel[C]//IEEE International Conference on Communications(ICC).Kuala Lumpur,Malaysia,2016:1-6.DOI:10.1109/ICC.2016.7510902
[20]ZHAO J W,GAO F F,JIA W M,et al.Angle Domain Hybrid Precoding and Channel Tracking for Millimeter Wave Massive MIMO Systems[J].IEEETransactions on Wireless Communications,2017,16(10):6868-6880.DOI:10.1109/twc.2017.2732405
[21]ZHOU Y F,YIP P C,LEUNG H.Tracking the Direction-Of-Arrival of Multiple Moving Targets by Passive Arrays:Algorithm[J].IEEE Transactions on Signal Processing,1999,47(10):2655-2666.DOI:10.1109/78.790648
[22]Z?CHMANN E,CABAN S,LERCH M,et al.Resolving the Angular Profile of60 GHz Wireless Channels by Delay-Doppler Measurements[C]//IEEE Sensor Array and Multichannel Signal Processing Workshop(SAM).Rio de Janerio,Brazil,2016:1-5.DOI:10.1109/SAM.2016.7569652
[23]Z?CHMANN E,MECKLENBR?UKER C F,LERCH M,et al.Measured Delay and Doppler Profiles of Overtaking Vehicles at 60 GHz[C]//12th European Conference on Antennas and Propagation(EuCAP).London,UK:1-5,2018.DOI:10.1049/cp.2018.0470
[24]ZENG Y,ZHANG R.Millimeter Wave MIMO with Lens Antenna Array:A New Path Division Multiplexing Paradigm[J].IEEE Transactions on Communications,2016,64(4):1557-1571.DOI:10.1109/tcomm.2016.2533490
[25]CHAN Y T,RUDNICKI S W.Bearings-Only and Doppler-Bearing Tracking Using Instrumental Variables[J].IEEE Transactions on Aerospace and Electronic Systems,1992,28(4):1076-1083.DOI:10.1109/7.165369
[26]HO K C,CHAN Y T.An Asymptotically Unbiased Estimator for Bearings-Only and Doppler-Bearing Target Motion Analysis[J].IEEE Transactions on Signal Processing,2006,54(3):809-822.DOI:10.1109/tsp.2005.861776
[27]HO K C,CHAN Y T.Geometric-Polar Tracking from Bearings-Only and Doppler-Bearing Measurements[J].IEEE Transactions on Signal Processing,2008,56(11):5540-5554.DOI:10.1109/tsp.2008.928701
[28]RAO S K.Pseudo-Linear Estimator for Bearings-Only Passive Target Tracking[J].IEE Proceedings-Radar,Sonar and Navigation,2001,148(1):16.DOI:10.1049/ip-rsn:20010144
[29]ALIEIEV R,HEHN T,KWOCZEK A,et al.Predictive Communication and Its Application to Vehicular Environments:Doppler-Shift Compensation[J].IEEETransactions on Vehicular Technology,2018,67(8):7380-7393.DOI:10.1109/tvt.2018.2835662
[30]GONZALEZ-PRELCIC N,ALI A,VA V,et al.Millimeter-Wave Communication with Out-Of-Band Information[J].IEEE Communications Magazine,2017,55(12):140-146.DOI:10.1109/mcom.2017.1700207
[31]DANIELS R C,CARAMANIS C M,HEATH R W.Adaptation in Convolutionally Coded MIMO-OFDM Wireless Systems through Supervised Learning and SNR Ordering[J].IEEE Transactions on Vehicular Technology,2010,59(1):114-126.DOI:10.1109/tvt.2009.2029693
[32]DJOUAMA A,Z?CHMANN E,PRATSCHNER S,et al.Predicting CSI for Link Adaptation Employing Support Vector Regression for Channel Extrapolation[C]//20th International ITG Workshop on Smart Antennas(WSA 2016).Munich,Germany,2016:1-7
[33]VA V,CHOI J,SHIMIZU T,et al.Inverse Multipath Fingerprinting for Millimeter Wave V2I Beam Alignment[J].IEEE Transactions on Vehicular Technology,2018,67(5):4042-4058.DOI:10.1109/tvt.2017.2787627
[34]Z?CHMANN E,VA V,RUPP M,et al.Geometric Tracking of Vehicular mmWave Channels to Enable Machine Learning of Onboard Sensors[C]//2018IEEE Globecom Workshops.Abu Dhabi,United Arab Emirates,2018:1-6.DOI:10.1109/GLOCOMW.2018.8644440
[35]TAHAT A,KADDOUM G,YOUSEFI S,et al.A Look at the Recent Wireless Positioning Techniques with a Focus on Algorithms for Moving Receivers[J].IEEE Access,2016,4:6652-6680.DOI:10.1109/access.2016.2606486
[36]SHAHMANSOORI A,GARCIA G E,DESTINO G,et al.Position and Orientation Estimation through Millimeter-Wave MIMO in 5G Systems[J].IEEETransactions on Wireless Communications,2018,17(3):1822-1835.DOI:10.1109/twc.2017.2785788
[37]TRULLENQUE ORTIZ M,et al.Vehicle Tracking Through Vision-Millimeter Wave Doppler Shift Fusion[Z].to be published at IEEE-APS APWC,2019.
[38]HOANG M G,DENIS B,H?RRI J,et al.(2015).Distributed Link Selection and Data Fusion for Cooperative Positioning in GPS-Aided IEEE 802.11p VANETs[C]//12th Workshop on Positioning,Navigation and Communication.Dresden,Germany,2015
[39]COHN D,GHAHRAMANI Z,JORDAN M J.Active Learning with Statistical Models[J].Journal of Artificial Intelligence Research,1996,4:129-145.DOI:10.1613/jair.295
[40]COHN D,ATLAS L,LADNER R.Improving Generalization with Active Learning[J].Machine Learning,1994,15(2):201-221.DOI:10.1007/bf00993277
[41]SETTLES B.Active Learning Literature Survey[R/OL].(2010-01-26).http://burrsettles.com/pub/settles.activelearning.pdf
[42]ROCKL M,STRANG T,KRANZ M.V2V Communications in Automotive MultiSensor Multi-Target Tracking[C]//IEEE 68th Vehicular Technology Conference.Calgary,Canada,2008:1-5.DOI:10.1109/VETECF.2008.440
[43]GRZYWACZEWSKI A.NVIDIA Corporation:Training AI for Self-Driving Vehicles:the Challenge of Scale[R/OL].(2017).https://devblogs.nvidia.com/parallelforall/training-self-driving-vehicles-challenge-scale
[44]LIU S S,TANG J,ZHANG Z,et al.Computer Architectures for Autonomous Driving[J].Computer,2017,50(8):18-25.DOI:10.1109/mc.2017.3001256
[45]HUANG C,LU R X,CHOO K-K R.Vehicular Fog Computing:Architecture,Use Case,and Security and Forensic Challenges[J].IEEE Communications Magazine,2017,55(11):105-111.DOI:10.1109/mcom.2017.1700322
[46]KONG L H,KHAN M K,WU F,et al.Millimeter-Wave Wireless Communications for IoT-Cloud Supported Autonomous Vehicles:Overview,Design,and Challenges[J].IEEE Communications Magazine,2017,55(1):62-68.DOI:10.1109/mcom.2017.1600422cm
[47]CARROLL R J,RUPPERT D,CRAINICEANU C M,et al.Measurement Error in Nonlinear Models:A Modern Perspective[M].London,UK:Chapman and Hall/CRC,2006
[48]BATTISTELLI G,CHISCI L,FANTACCI C,et al.Networked Target Tracking with Doppler Sensors[J].IEEE Transactions on Aerospace and Electronic Systems,2015,51(4):3294-3306.DOI:10.1109/taes.2015.140340
[49]HASSIBI B,SAYED A H,KAILATH T.Indefinite-Quadratic Estimation and Control:A Unified Approach to H2 and H-infinity Theories[M].Philadelphia,USA:SIAM,1999:vol 16
[50]KAILATH T,SAYED A H,HASSIBI B.Linear Estimation[M].Upper Saddle River,USA:Prentice Hall,2000