The existing Integrated Sensing And Communication(ISAC) technologies lack the framework and methods of deep integration, and it is difficult to guarantee the comprehensive demand of communication perception in future scenarios like "smart city" and "intelligent travel". Therefore, it is an urgent problem to study the ISAC technologies for Ad Hoc networks oriented to Internet of Things and the Internet of Vehicles. The method and technical scheme of the sensing-communication signal integration for Ad Hoc network are proposed, which can both guarantee the communication performance and improve the accuracy of ranging sensing estimation. A resource allocation scheme and its corresponding iterative optimization algorithm are proposed to deal with the time-spectrum resource conflict between sensing and communication tasks, in order to achieve the high reliability and strong stability of the ISAC Ad Hoc network collaborative awareness ability under limited resources. A hardware-software module prototype of sensing-communication integration is designed to guarantee high-precision clock synchronization of the whole network when Global Navigation Satellite System(GNSS) signal is weak, ensuring the collaborative sensing ability of the network, and providing the collaborative transmission support in long distances communication. In conclusion, an ISAC Ad Hoc system framework is built, including the integrated design of the sensing-communication signal and the joint optimization scheme of time-frequency resource; the corresponding hardware-software platform is developed, consisting of 4 ISAC module prototypes. In the field experiments of the corresponding platform within a range of 2 km, the proposed method can realize that the communication rate is above 320 kbps, the packet loss rate is less than 0.05%, and the sensing accuracy is less than 10 m.