SFO: An Adaptive Task <u>S</u>cheduling Based on Incentive Fleet <u>F</u>ormation and Metrizable Resource <u>O</u>rchestration for Autonomous Vehicle Platooning
Tingting Xiao, Chen Chen, Qingqi Pei, Zhiyuan Jiang, Shugong Xu
Abstract
Autonomous vehicle platooning has tremendous potential to relieve the burden of Vehicular Edge Computing (VEC) by sharing resources with nearby vehicles. Therefore, fleet formation and resource orchestration within vehicle platoons have recently ignited significant research interest. However, most fleet formation works focus on the intra-platoon configuration and information exchange, but few consider trajectory matching and joining willingness. Likewise, in multi-platoon scenarios, static resource orchestration for a single platoon no longer meets the demand from dynamic resource scheduling. To tackle these problems, we proposed the SFO scheme, an adaptive task <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</u> cheduling based on incentive fleet <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">F</u> ormation and metrizable resource <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">O</u> rchestration. First, we design a fleet <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">F</u> ormation algorithm based on <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</u> rajectory matching and <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">J</u> oining willingness (FTJ) to ensure the stable underlying architecture. Second, we use the <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">W</u> eighted <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</u> um of <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">E</u> nergy <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">C</u> onsumption (WSEC) as the performance metric for resource orchestration and formulate the time-average WSEC minimization problem. Third, an <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</u> daptive task <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">S</u> cheduling under <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P</u> artitionable <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</u> pplications and variable <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R</u> esources (ASPAR) is proposed for an asymptotic optimal solution in reaction to the changeable backlog of the timeout queue. Finally, our numerical results demonstrate that our approach is superior to other latest and classic works in energy consumption and execution latency.