自主驾驶能源效率高的高级定义地图数据分配机制 (An Energy-Efficient High Definition Map Data Distribution Mechanism for Autonomous Driving)

Autonomous Driving is now the promising future of transportation. As one basis for autonomous driving, High Definition Map (HD map) provides high-precision descriptions of the environment, therefore it enables more accurate perception and localization while improving the efficiency of path planning. However, an extremely large amount of map data needs to be transmitted during driving, thus posing great challenge for real-time and safety requirements for autonomous driving. To this end, we first demonstrate how the existing data distribution mechanism can support HD map services. Furthermore, considering the constraints of vehicle power, vehicle speed, base station bandwidth, etc., we propose a HD map data distribution mechanism on top of Vehicle-to-Infrastructure (V2I) data transmission. By this mechanism, the map provision task is allocated to the selected RSU nodes and transmits proportionate HD map data cooperatively. Their works on map data loading aims to provide in-time HD map data service with optimized in-vehicle energy consumption. Finally, we model the selection of RSU nodes into a partial knapsack problem and propose a greedy strategy-based data transmission algorithm. Experimental results confirm that within limited energy consumption, the proposed mechanism can ensure HD map data service by coordinating multiple RSUs with the shortest data transmission time.

翻译：自主驾驶是目前充满希望的交通未来。作为自主驾驶的一个基础,高定义地图(HD地图)提供了高精确度的环境描述,因此,它能够更准确地认识和定位,同时提高路路路规划的效率;然而,在驾驶期间需要传输大量的地图数据,从而对自动驾驶的实时和安全要求构成巨大挑战。为此,我们首先展示现有数据分配机制如何支持HD地图服务。此外,考虑到车辆动力、车辆速度、基站带宽等限制,高定义地图(HD地图)提供了对环境的高度精确描述,因此,它能够使环境描述更加精确地描述环境,从而在提高道路规划的效率的同时,能够使更准确的感知和本地化;然而,高定义地图提供的任务需要大量地图数据数据在驾驶期间传输,从而对自主驾驶的实时和安全要求构成巨大挑战。为此,我们首先展示现有数据分配机制如何利用现有的数据分配机制支持HD地图数据服务,以最优化的车辆能源消耗为最佳方式提供。此外,我们将RSU 节节节节点选成一个部分 knapsack 问题,并提议一个基于战略的数据传输算算算算算算。通过这一实验结果结果证实,在有限的RSU型数据流中,通过有限的数据传输中,通过有限的数据服务中,以最短的传送,拟议的机制可以协调使用,以有限的数据服务中,拟议的机制可以协调使用最短的传送,以最时,用、一个最、最、最、、、最、最、最、最、最、最、最、最、最、最、最等、最、最、最、最、最、最、最、最、最、最、最、一个拟议的机制等、最、最、最、最、最、最、最、最、最等、最、最等、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最、最