Real-Time Dynamic Map With Crowdsourcing Vehicles in Edge Computing

Abstract

Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information among connected and automated vehicles. However, it is challenging to achieve real time perception sharing under varying network dynamics in automotive edge computing. In this paper, we propose a novel real time dynamic map, named <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiveMap</i> to detect, match, and track objects on the road. We design the data plane of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiveMap</i> to efficiently process individual vehicle data with multiple sequential computation components, including detection, projection, extraction, matching and combination. We design the control plane of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiveMap</i> to achieve adaptive vehicular offloading with two new algorithms (central and distributed) to balance the latency and coverage performance based on deep reinforcement learning techniques. We conduct extensive evaluation through both realistic experiments on a small-scale physical testbed and network simulations on an edge network simulator. The results suggest that <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiveMap</i> significantly outperforms existing solutions in terms of latency, coverage, and accuracy.