Abstract
Joint communication and sensing (JCS) is becoming an important trend in 6G, owing to its efficient utilization of spectrums and hardware resources. Utilizing echoes of the same signal can achieve the object location sensing function, in addition to the V2X communication function. There is application potential for JCS systems in the fields of ADAS and unmanned autos. Currently, the NR-V2X sidelink has been standardized by 3GPP to support low-latency high-reliability direct communication. In order to combine the benefits of both direct communication and JCS, it is promising to extend existing NR-V2X sidelink communication toward sidelink JCS. However, conflicting performance requirements arise between radar sensing accuracy and communication reliability with the limited sidelink spectrum. In order to overcome the challenges in the distributed resource allocation of sidelink JCS with a full-duplex, this paper has proposed a novel consecutive-collision mitigation semi-persistent scheduling (CCM-SPS) scheme, including the collision detection and Q-learning training stages to suppress collision probabilities. Theoretical performance analyses on Cramér-Rao Lower Bounds (CRLBs) have been made for the sensing of sidelink JCS. Key performance metrics such as CRLB, PRR and UD have been evaluated. Simulation results show the superior performance of CCM-SPS compared to similar solutions, with promising application prospects.