  Sidelink positioning research predominantly focuses on the snapshot
positioning problem, often within the mmWave band. Only a limited number of
studies have delved into vehicle-to-anything (V2X) tracking within sub-6 GHz
bands. In this paper, we investigate the V2X sidelink tracking challenges over
sub-6 GHz frequencies. We propose a Kalman-filter-based tracking approach that
leverages the estimated error covariance lower bounds (EECLBs) as measurement
covariance, alongside a gating method to augment tracking performance. Through
simulations employing ray-tracing data and super-resolution channel parameter
estimation, we validate the feasibility of sidelink tracking using our proposed
tracking filter with two novel EECLBs. Additionally, we demonstrate the
efficacy of the gating method in identifying line-of-sight paths and enhancing
tracking performance.
