Ultra-reliable and low latency (uRLLC) plays an important role in the context of automatic driving, in terms of the road safety, which mainly depends on fast data transmission and precise positioning. However, handling this data and positioning efficiently faces a significant challenge, because of high data volume and vehicles' mobility. To support the high rate of sensing data and positioning information sharing between vehicles and base stations, mmWave communication technology, featured by high frequency and bandwidth, is identified as an potential solution. In addition, constrained by the strong directionality of mmWave, to improve the performance of high reliability, low latency and precise sensing, realtime mmWave beam direction regulation is urgently needed. In this paper, based on the multi-source sensing information, we propose a joint design of fast and robust communication and sensing 3D mmWave beam tracking (MSI-ISACBT) algorithm for two kinds of dynamic motions. In detail, for the case of low dynamic motion, the beam direction can be updated by using historical state information and reflected echo signal strength, while it can be adjusted according to the image information acquired by the camera for the case of high dynamic motion. Simulations validate the effectiveness and correctness of the proposed MSI-ISACBT. Compared with other popular methods, MSI-ISACBT achieve a stable throughput of 2.8Gbps and more smooth beam angle control with 16ms delay.