As the Internet of Things(IoT) and its intelligent applications continue to proliferate, forthcoming 6G networks will confront the dual challenge of heightened communication and computing capacity demands. To address this, D2D collaborative computing is being explored. However, the current D2D collaborative computing ignores the integrity of computing and communication. For a single-task device, offloading operations intertwine computing and communication, internal coupling causes due to parallel executed between local and D2D offloading. In addition, external coupling arises among devices competing for limited radio and computing resources. Worse, internal coupling and external coupling interact, exacerbating the situation. To address these challenges, a novel D2D offloading framework is proposed based on hyper-graph matching in this paper. Our goal is to minimize both delay and energy costs while ensuring service quality for all users by jointly optimizing task scheduling, offload policies and resource allocation. The original problem is formulated as a nonlinear integer programming problem. Then, by three-stage strategy optimization decomposition, it is separated into several sub-problems. In the first stage, a polynomial-time algorithm has been developed to optimize the task offloading ratio, taking into account both its upper and lower bounds. In the second stage, a geometric programming algorithm has been created to address power allocation. In the third stage, a three-dimensional hyper-graph matching model is employed to derive the optimal offloading and channel allocation policies. This is based on analyzing the conflict graph and applying the claw theorem. Simulation results demonstrate that the proposed scheme outperforms other algorithms by approximately 12%, 20%, 28%, 40%, respectively. Moreover, it enhances both spectral efficiency and computational efficiency.
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