Time-Division ISAC Enabled Connected Automated Vehicles Cooperation Algorithm Design and Performance Evaluation

To overcome the bottleneck of unreliable environment sensing caused by sensor failure and obstacle blockage, the cooperation among connected automated vehicles (CAVs) is crucial for the reliable and efficient raw sensing data sharing in order to guarantee the driving safety. Empowered by the narrow beamwidth and high data rate abilities, the millimeter wave (mmWave) communication technology can substantially improve the environment sensing ability among multiple CAVs. In this paper, a mmWave enabled CAVs cooperation algorithm is designed based on the proposed time-division integrated sensing and communication (TD-ISAC) system for raw sensing data sharing among CAVs. Considering various computing abilities at vehicle and infrastructure, a closed-form solution to the V2V or V2V/V2I cooperative communication mode selection is theoretically achieved based on response delay analysis to guarantee the timeliness of raw sensing data sharing. And the age of information based system status update algorithm is proposed for the V2V/V2I collaborative communication mode. The feasibility of the proposed TD-ISAC system is verified by simulation and hardware testbed results. Based on simulation results, the proposed communication mode selection algorithm can effectively minimize the response time delay in different conditions. The mmWave enabled TD-ISAC hardware testbed is developed and the position error of target detection can be reduced by 18.5 % using the sensing data fusion from two vehicles, while the communication throughput remains over 2.2 Gbps.