Cooperative Sensing and Task Offloading for Autonomous Platoons

Abstract

Advanced sensor technology and emerging Internet of Vehicles (IoV) have significantly accelerated the realization of autonomous driving. In operating an autonomous vehicle, traffic information needs to be collected and processed under strict delay constraints. But an individual vehicle equipped with few types of sensors and limited computation resources could not achieve precise environmental awareness and real-time information processing. Vehicular cooperative sensing and edge computing are promising approaches to address these problems. However, various types of sensing tasks and heterogeneous smart vehicles with different computing power make the cooperation between vehicles a complicated problem. To cope this problem, we form multiple vehicles into platoons, and design a novel cooperative sensing architecture. Moreover, we fully exploit unoccupied computation resources of smart vehicles, and propose a vehicular edge serving scheme, which jointly schedules cooperative sensing and task offloading. Numerical results demonstrate that our proposed scheme outperforms traditional approaches with lower delay costs.