  Vehicle-to-everything communication system is a strong candidate for
improving the driving experience and automotive safety by linking vehicles to
wireless networks. To take advantage of the full benefits of vehicle
connectivity, it is essential to ensure a stable network connection between
roadside unit (RSU) and fast-moving vehicles. Based on the extended Kalman
filter (EKF), we develop a vehicle tracking algorithm to enable reliable radio
connections. For the vehicle tracking algorithm, we focus on estimating the
rapid changes in the beam direction of a high-mobility vehicle while reducing
the feedback overhead. Furthermore, we design a beamforming codebook that
considers the road layout and RSU. By leveraging the proposed beamforming
codebook, vehicles on the road can expect a service quality similar to that of
conventional cellular services. Finally, a beamformer selection algorithm is
developed to secure sufficient gain for the system's link budget. Numerical
results verify that the EKF-based vehicle tracking algorithm and the proposed
beamforming structure are more suitable for vehicle-to-infrastructure networks
compared to existing schemes.
