Robust OTFS-ISAC for Vehicular-to-Base Station End-to-End Sensing and Communication

This paper presents an orthogonal time–frequency space (OTFS)-based integrated sensing and communication (ISAC) framework for vehicular-to-base-station (V2B) scenarios, where a synthetic road environment models vehicular mobility and multipath propagation with explicit ground truth. In the sensing stage, OTFS probing signals with Gray-coded quadrature amplitude modulation (QAM) are processed via inverse symplectic finite Fourier transform (ISFFT) and cyclic prefix orthogonal frequency-division multiplexing (CP-OFDM). The receiver applies cyclic prefix (CP) removal, fast Fourier transform (FFT), and symplectic finite Fourier transform (SFFT) to extract delay–Doppler (DD) responses. Channel estimation uses time–frequency least squares (TF-LS), robust background suppression, constant false alarm rate (CFAR) detection, and non-maximum suppression (NMS), yielding Precision = 0.79, Recall = 0.84, and F1 = 0.82. Communication decoding employs per-bin least squares, minimum mean-squared error (MMSE) equalization, and Gray-mapped QAM demapping. Across ten frames at 20 dB SNR, the system decoded 1.887×108 bits with 1.575×105 errors, producing a bit error rate (BER) of 8.34×10−4. Error vector magnitude (EVM) analysis reports mean = 0.30%, median = 0.06%, confirming constellation stability. Random Forest (RF) and imbalanced RF (IRF) classifiers trained on augmented DD payloads achieve Precision = 0.94, Recall = 0.87, and F1 = 0.92. Results validate OTFS-ISAC as a robust framework for V2B communication and sensing.