Research On Time Resource Allocation And Communication Mode Selection In Automated Driving Vehicle Network Based On Sensing And Communication Integrated System

At present,the safety of autonomou vehicles mostly depends on the reliable original data collected by on-vehicle multi-sensors,but the sensor performance is susceptible to environmental influence,resulting in the lack of sensing ability of a single vehicle.V2X communication technology and 5G millimeter-wave communication technology can promote the efficient transmission of sensing information between multiple vehicles and improve the environmental awareness of the entire vehicle network.Therefore,the integration of sensing and communication technology is a major development trend of autonomous driving technology from single-vehicle autonomous driving to multi-vehicle interconnection autonomous driving.However,it is faced with the problems of high-delay transmission caused by massive sensing information and unstable communication link.Therefore,this thesis studies time resource allocation method and communication mode selection method in multi-vehicle interconnection autonomous driving scenarios respectively based on the time-division integration design framework of joint sensing and communication,in order to achieve reliable transmission of information with low delay in multi-vehicle interconnection autonomous driving network.The main contributions of this thesis include two parts:(1)Aiming at the problems of the low degree of perception information sharing between vehicles and the difficulty of massive data transmission in the multi-vehicle interconnected autonomous driving network,the joint design of sensing and communication is carried out to make the time allocation ratio dynamically adjustable in the frame structure dimension of the physical layer.At the system level,the radar mutual information is used as the performance evaluation index of the system,the ystem optimization function is built based on the signal interference analysis of the system,and combined with the game theory method to propose a centralized time resource allocation method.Simulation results show that the proposed algorithm can improve the system performance by at least 14.53%compared with the traditional algorithm.(2)Aiming at the problem of low timelidity of information transmission caused by the instability of vehicle-vehicle communication link in the distributed deployment of multi-vehicle interconnected autonomous driving network,a distributed joint communication and computing model with the coexistence of environment sensing service support(ESSS)vehicle and Cooperative Vehicle Infrastructure Service Support(CVISS)Vehicle was proposed,and each vehicle is equipped with a time division integrated system for joint sensing and communication.For ESSS vehicles,the cooperative communication mode of V2V and V2I is proposed,and the threshold decision function is obtained by using queuing theory.For CVISS vehicles,a system status update algorithm based on the age of information is proposed.The simulation results show that the vehicle carrying the integrated system can effectively reduce the response time delay of information in the network by 4.5%.