For the requirements of real-time services in autonomous driving systems,such as high-definition(HD)maps,based on the integration of sensing,communication,and computing,a multi-node cooperative sensing mechanism was proposed with the age of information(AoI)as the real-time indicator.Considering the constraints on communication and computing resources and vehicle energy consumption,the information collection,transmission and processing of sensing nodes were optimally scheduled to minimize the AoI averaged over time.A Lyapunov-based online scheduling algorithm was proposed to transform the long-term stochastic optimization problem into an online optimization problem,which could be solved with low complexity.Compared with the existing mechanism considering integrated communication and computing,the proposed mechanism can improve real-time performance by 9%～50%.
关键词
自动驾驶/感知信息实时性/感知-通信-计算融合/信息年龄/李雅普诺夫随机优化
Key words
autonomous driving/real-time performance of sensing information/integration of sensing communication and computing/age of information/Lyapunov stochastic optimization
维普
万方数据