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.

中文翻译：

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基于时分 ISAC 的互联自动驾驶汽车合作算法设计与性能评估

为了克服传感器故障和障碍物阻塞导致的环境感知不可靠的瓶颈，互联自动车辆（CAV）之间的合作对于可靠、高效的原始感知数据共享以保证驾驶安全至关重要。凭借窄波束宽度和高数据速率能力，毫米波 (mmWave) 通信技术可以显着提高多个 CAV 之间的环境感知能力。在本文中，基于所提出的时分集成传感与通信 (TD-ISAC) 系统，设计了一种支持毫米波的 CAV 协作算法，用于 CAV 之间的原始传感数据共享。考虑到车辆和基础设施的各种计算能力，基于响应延迟分析，理论上实现了V2V或V2V/V2I协作通信模式选择的封闭式解决方案，以保证原始传感数据共享的及时性。并针对V2V/V2I协同通信模式提出了基于信息时代的系统状态更新算法。通过仿真和硬件试验台结果验证了所提出的TD-ISAC系统的可行性。基于仿真结果，所提出的通信模式选择算法可以有效地最小化不同条件下的响应时延。开发了支持mmWave的TD-ISAC硬件测试台，利用两辆车的传感数据融合，目标检测的位置误差可以降低18.5%，同时通信吞吐量保持在2.2Gbps以上。