A Communication Scheme for Delay Sensitive Perception Tasks of Autonomous Vehicles

Autonomous vehicle is an integrated system which focuses on the modern sensing, information fusion, communication, artificial intelligence and other technologies. Gathering sensor data from multi-autonomous vehicles is a promising method to enhance the sensing coverage and accuracy. However, there exists few communication scheme for cooperating the sensing and computation capacities of autonomous vehicles and organize them into a platoon to maintain a safe driving. In this paper, we propose a communication scheme for autonomous vehicles platoon. In this communication scheme, autonomous vehicles in an adjacent area are organized as a cooperative sensing platoon. Meanwhile a head vehicle is selected to schedule the offloading of sensor data. Two different situations are take into considered which depend whether the autonomous vehicles are assisted by a Road Side Unit(RSU). In order to minimum the delay of processing the perception tasks of this platoon, we deploy a Genetic Algorithm on the head vehicle. The simulation results indicate that the processing delay optimized by Genetic Algorithm is convergent after a few iterations and less than 60ms.