  The safety of connected automated vehicles (CAVs) relies on the reliable and
efficient raw data sharing from multiple types of sensors. The 5G millimeter
wave (mmWave) communication technology can enhance the environment sensing
ability of different isolated vehicles. In this paper, a joint sensing and
communication integrated system (JSCIS) is designed to support the dynamic
frame structure configuration for sensing and communication dual functions
based on the 5G New Radio protocol in the mmWave frequency band, which can
solve the low latency and high data rate problems of raw sensing data sharing
among CAVs. To evaluate the timeliness of raw sensing data transmission, the
best time duration allocation ratio of sensing and communication dual functions
for one vehicle is achieved by modeling the M/M/1 queuing problem using the age
of information (AoI) in this paper. Furthermore, the resource allocation
optimization problem among multiple CAVs is formulated as a non-cooperative
game using the radar mutual information as a key indicator. And the feasibility
and existence of pure strategy Nash equilibrium (NE) are proved theoretically,
and a centralized time resource allocation (CTRA) algorithm is proposed to
achieve the best feasible pure strategy NE. Finally, both simulation and
hardware testbed are designed, and the results show that the proposed CTRA
algorithm can improve the radar total mutual information by 26%, and the
feasibility of the proposed JSCIS is achieved with an acceptable radar ranging
accuracy within 0.25 m, as well as a stable data rate of 2.8 Gbps using the 28
GHz mmWave frequency band.
