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To cope with the challenges of the application of the CPSs in all kinds of environments, especially the cellular vehicle\u2010to\u2010everything (C\u2010V2X) which needs high quality end\u2010to\u2010end communication, the robustness and reliability for CPSs are very crucial. Aiming at the technical challenges of information transmission caused by the fading effect and the fast time\u2010varying characteristics of the channel for C\u2010V2X communication, an improved Tomlinson\u2013Harashima precoding (THP) algorithm for multiple input multiple output (MIMO) systems is proposed. Channel state information (CSI) and correlation are exploited to compensate instantaneous CSI, which could reflect current real\u2010time channel status exactly. Further, the iterative water filling power allocation algorithm and the multiuser scheduling algorithm based on the greedy algorithm are jointly optimized and applied to the THP, which could improve the system performance. Simulation results show that the proposed algorithm can be efficiently applied to high\u2010speed mobility scenarios and improve bit error ratio (BER) performance as well as spectrum utilization.<\/jats:p>","DOI":"10.1155\/2021\/5585892","type":"journal-article","created":{"date-parts":[[2021,4,5]],"date-time":"2021-04-05T21:50:06Z","timestamp":1617659406000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Improved Tomlinson\u2013Harashima Precoding for Ultra Reliable Communication in Intelligent Transportation Systems"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1540-326X","authenticated-orcid":false,"given":"Shibiao","family":"He","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0085-1887","authenticated-orcid":false,"given":"Xinyi","family":"Yang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0171-4323","authenticated-orcid":false,"given":"Yong","family":"Liao","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,4,5]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/comst.2019.2959013"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsg.2015.2497691"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2016.2631129"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2018.2815678"},{"key":"e_1_2_9_5_2","doi-asserted-by":"crossref","unstructured":"GhoshR. 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