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Real-Time Dynamic Map with Crowdsourcing Vehicles in Edge Computing

Title
Real-Time Dynamic Map with Crowdsourcing Vehicles in Edge Computing
Author(s)
Liu, QiangHan, TaoXie, Jiang LindaKim, BaekGyu
Issued Date
2023-04
Citation
IEEE Transactions on Intelligent Vehicles, v.8, no.4, pp.2810 - 2820
Type
Article
Author Keywords
Dynamic MapEdge ComputingAutonomous Driving
Keywords
LEVEL
ISSN
2379-8858
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 LiveMap to detect, match, and track objects on the road. We design the data plane of LiveMap to efficiently process individual vehicle data with multiple sequential computation components, including detection, projection, extraction, matching and combination. We design the control plane of LiveMap 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 LiveMap significantly outperforms existing solutions in terms of latency, coverage, and accuracy.
URI
http://hdl.handle.net/20.500.11750/16907
DOI
10.1109/tiv.2022.3214119
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • 김백규 Kim, BaekGyu
  • Research Interests 사이버물리 시스템; Cyber-Physical Systems(CPS); 사물인터넷; Internet-Of-Things(IoT); Embedded Software; Formal Method; Software Engineering; model-based development; hardware/software integration; distributed computing; real-time systems
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Appears in Collections:
Department of Electrical Engineering and Computer Science High-Assurance Software Systems Lab. 1. Journal Articles

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