Integrated Sensing and Communication for 6G V2X Networks: A Comprehensive Survey of Architectures, Security, and Multi-Modal AI

Sixth-generation (6G) vehicular systems are expected to provide extreme reliability, ultra-low latency, and high data rates while simultaneously enabling accurate and timely perception of vehicles, road users, and surrounding environments. Conventional vehicle-to-everything (V2X) systems treat communication and environmental sensing separately and therefore fall short in dynamic, dense, and safety-critical driving scenarios. Integrated sensing and communication for V2X (ISAC-V2X) addresses this limitation by sharing hardware and spectrum for dual-functional operation. This survey consolidates the state of the art across eight thematic areas: fundamentals and taxonomy; vehicular channel models and sensing metrics; physical-layer techniques, including waveform design, beamforming, reconfigurable intelligent surfaces, non-orthogonal multiple access, and rate-splitting multiple access; security and privacy; networked and cell-free ISAC with multi-access edge computing; multi-modal perception using radar, LiDAR, camera, and radio-frequency data; artificial intelligence and ML for channel, beam, target, and sensing-data processing; and future research directions.Fiveconsolidated research gaps are synthesized from the reviewed literature: end-to-end frameworks for networked ISAC-V2X under high mobility; unified multi-modal AI-native architectures for joint sensing, communication, localization, and security; incomplete standardization and interoperability; limited validation, testbeds, and reproducible benchmarks; and scalability, robustness, and cross-domain optimization. This survey concludes with standardization and testbed recommendations and presents a roadmap toward deployable 6G ISAC-V2X systems.