  In this paper, we propose a radar-assisted predictive beamforming design for
vehicle-to-infrastructure (V2I) communication by relying on the joint sensing
and communication functionalities at road side units (RSUs). We present a novel
extended Kalman filtering (EKF) framework to track and predict kinematic
parameters of the vehicle. By exploiting the radar functionality of the RSU we
show that the communication beam tracking overheads can be drastically reduced.
Numerical results have demonstrated that the proposed radar-assisted approach
significantly outperforms the communication-only feedback based technique in
both the angle tracking and the downlink communication.
