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In this paper, we consider the orthogonal frequency division modulation (OFDM) based integrated radar-communication (Rad-Com) for automobile systems operating in millimeter wave band with imperfect time-frequency synchronization for communications. Since different pilot power allocation and placement strategies can result in different performance, we investigate the power allocation and placement design for the Rad-Com system. We analyze the effect of power allocation and pilot placement on the system performance. Based on the analysis, we provide, along with a channel estimation scheme, the pilot power allocation and placement designs that can optimize the radar and communication performance, respectively. Moreover, the tradeoff between radar and communication performance is discussed and a tradeoff design is presented. We conduct simulations to validate our analysis and evaluate the …