通信学报2024，Vol.45Issue(3)：1-16,16.DOI:10.11959/j.issn.1000-436x.2024026
基于感通算融合和信息年龄优化的车联网多节点协同感知
AoI-enabled multi-node cooperative sensing based on integration of sensing,communication,and computing in vehicular networks
摘要
Abstract
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分类
电子信息工程引用本文复制引用
周一青,张浩岳,齐彦丽,蔡青,刘玲,王江舟..基于感通算融合和信息年龄优化的车联网多节点协同感知[J].通信学报,2024,45(3):1-16,16.基金项目
国家重点研发计划基金资助项目(No.2021YFB2900203) The National Key Research and Development Program of China(No.2021YFB2900203) （No.2021YFB2900203）
