Vehicle Control System for Cooperative Driving Coordinated Multi -Layered Edge Servers

Abstract

Cooperative driving, where multiple vehicles are remotely and automatically operated and controlled through low-latency communication, has caught much attention recently. To achieve cooperative driving systems, cloud-based and/or Mo-bile/Multi Access Edge Computing (MEC)-based vehicle control systems have been proposed. They have a trade-off between the feedback latency in terms of controlling and capacity defined as the number of vehicles for which the cloud or edge-server can accommodate sensor information via the network. To take advantage of both systems, we have proposed a vehicle control system corrdinated an Upper Edge Server (UpES) that has a large capacity and a Lower Edge Server (LoES) that executes remote control with low latency. The previous system, however, does not consider autonomous control by the vehicle. When burst packet loss occurs, the previous system collapses. Furthermore, the previous system cannot be sufficiently evaluated using actual latency information in the real world. In this paper, we propose the coordination of the previous system and autonomous control. By considering autonomous control, the proposed system achieves a more flexible deployment of edge servers than the previous system. To evaluate the proposed system, we simulate the control time ratio between autonomous and remote control using the measured latency between various cloud services and carriers. From the simulation, we show the following. Multi-layered edge servers are required for cooperative driving systems. Our proposed system can solve the trade-off among the capacity, number of required edge servers, and control time ratio.