CN111970318A

CN111970318A - Vehicle and roadside unit cooperative task unloading method and device based on mobile edge calculation

Info

Publication number: CN111970318A
Application number: CN202010417409.9A
Authority: CN
Inventors: 秦晓琦; 张一帆; 宋贤鑫; 张治�; 冯志勇
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-11-20
Anticipated expiration: 2040-05-18
Also published as: CN111970318B

Abstract

The embodiment of the invention provides a vehicle and roadside unit cooperative task unloading method and device based on mobile edge computing, which aim to solve the technical problem of large burden of an MEC server in the prior art, wherein the method comprises the steps of sending a response to a roadside unit which is reserved with idle resources in the communication range of matching service equipment and forwarding the response to the matching task vehicle by the roadside unit which is reserved with the idle resources when the matching service equipment is a service vehicle and the matching task vehicle exceeds the communication range of the matching service equipment, so that computing tasks are shared by the matching service equipment which is the service vehicle, and the load of the MEC server in the roadside unit can be reduced.

Description

Vehicle and roadside unit cooperative task unloading method and device based on mobile edge calculation

Technical Field

The invention relates to the technical field of vehicle networking communication, in particular to a method and a device for cooperatively unloading tasks of vehicles and roadside units based on mobile edge computing.

Background

With the deep convergence of the internet and the internet of vehicles, various intelligent transportation application services are emerging. Application services such as automatic driving, vehicle availability (VR) and real-time traffic control have been proposed. To implement such application services, Vehicle Edge Computing (VEC) and internet of vehicles are combined to complete the processing of complicated computing tasks. The VEC provides nearby application services for the vehicle by deploying an edge server with network, calculation and storage functions near the periphery of the vehicle. Therefore, the VEC network and the internet of vehicles are combined to realize the interconnection of vehicles and vehicles, vehicles and Roadside units (RSUs), and the cooperative cooperation of vehicles and Mobile Edge Computing (MEC) servers. How to realize the processing of the calculation task by combining the VEC network and the Internet of vehicles is explained in detail as follows:

and unloading tasks which are difficult to calculate by a local processor of the vehicles in the MEC network into an MEC server deployed on the roadside unit, completing the tasks by the MEC server, obtaining a calculation result and returning the calculation result to the corresponding vehicle.

Due to each vehicle, the task is offloaded to the MEC server, causing a relatively large burden on the MEC server.

Disclosure of Invention

The embodiment of the invention aims to provide a vehicle and roadside unit cooperative unloading task method and device based on mobile edge calculation, which are used for solving the technical problem that the burden of an MEC server in the prior art is large.

The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a vehicle and roadside unit cooperative offloading task method based on mobile edge computing, including:

monitoring vehicle resources and roadside unit resources in a mobile edge computing network, wherein the vehicles comprise task vehicles with insufficient residual resources for performing vehicle tasks and service vehicles with reserved idle resources;

determining a service vehicle and a roadside unit which can provide service for the task vehicle as pre-service equipment according to the task demand service condition of the task vehicle;

determining a task vehicle needing to be served by the roadside unit and a task vehicle needing to be served by the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle;

matching the task vehicles needing to be served by the roadside unit and the task vehicles needing to be served by the service vehicles with the pre-service equipment to obtain matching service equipment and matching task vehicles corresponding to the matching service equipment;

generating a task unloading scheme based on the matched service equipment and the matched task vehicle, wherein the task unloading scheme comprises the following steps: sending a request for unloading a task to the matching service equipment by the matching task vehicle, responding to the request by the matching service equipment, sending the response to a roadside unit with idle resources in a communication range of the matching service equipment under the condition that the matching task vehicle exceeds the communication range of the matching service equipment when the matching service equipment is a service vehicle, and forwarding the response to the matching task vehicle by the roadside unit with idle resources;

and transmitting the task unloading scheme to the matching service equipment and the matching task vehicle so as to finish the task unloading of the matching task vehicle on the matching service equipment.

Further, the determining a service vehicle and a roadside unit capable of providing service for the task vehicle according to the task demand service condition of the task vehicle as a pre-service device includes:

determining a service matching condition according to the task requirement service condition of the task vehicle;

determining a service vehicle and a roadside unit which can meet the service matching condition from the service vehicle and the roadside unit as pre-service equipment;

the determining the task vehicle which needs to be served by the roadside unit and the task vehicle which needs to be served by the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle comprises the following steps:

determining a task matching condition according to the service providing condition of the roadside unit and the service providing condition of the service vehicle;

and selecting the task vehicles meeting the task matching conditions from the task vehicles as the task vehicles needing services by the roadside unit and the task vehicles needing services by the service vehicles.

Further, before determining the service matching condition according to the task requirement service condition of the task vehicle, the method further includes:

sequencing the task vehicles based on the size of the task of each task vehicle, the time delay sensitivity of the task priority and the revolution of a processor required by the task, and obtaining the task demand service condition of each task vehicle;

before determining a task matching condition according to the service providing condition of the roadside unit and the service providing condition of the service vehicle, the method further includes:

the roadside unit and the service vehicle are respectively provided with the size of idle resources based on the distance between the roadside unit and the service vehicle and the task vehicle respectively and whether resource competition exists between the roadside unit and the service vehicle and the task vehicle respectively, and the roadside unit and the service vehicle are sequenced to obtain the service providing condition of the roadside unit and the service providing condition of the service vehicle.

Further, when the task demand service condition is the highest demand service condition, the service matching condition is that the distance between the pre-service device and the task vehicle in the highest demand service condition is minimum, there is no resource competition between the pre-service device and the task vehicle in the highest demand service condition, and the idle resource of the pre-service device is maximum.

Further, the determining the service matching condition by the following method includes:

respectively distributing weights to the sizes of idle resources of the roadside unit and the service vehicle to obtain a service providing value of the roadside unit and a service providing value of the service vehicle;

and setting the service providing value of the roadside unit and the service providing value of the service vehicle to be at the front O bit with larger service providing value as the service matching condition.

Further, the following method for determining the task matching condition includes:

respectively distributing weights to the size of the task of each task vehicle, the time delay sensitivity of the task priority and the revolution of a processor required by the task, and obtaining a task demand service value of each task vehicle;

and taking the task demand service value of each task vehicle at the front P position with a larger task demand service value as a task matching condition of the task vehicle.

Further, the task offloading scheme includes: sending a request for unloading a task to the matching service equipment by the matching task vehicle, and returning the response to the matching task vehicle under the condition that the matching task vehicle is in the communication range of the matching service equipment;

the step of propagating the task unloading scheme to the matching service device and the matching task vehicle to complete the task unloading of the matching task vehicle on the matching service device includes:

and transmitting the task unloading scheme to the matching service equipment and the matching task vehicle, and completing the task unloading of the matching task vehicle on the matching service equipment through the mutual matching of the matching task vehicle and the matching service equipment.

Further, after the propagating the task offloading scheme to the matching service device and the matching task vehicle to complete offloading of the task by the matching task vehicle on the matching service device, the method further includes:

taking the task demand service condition of the unmatched task vehicle as the task demand service condition of the task vehicle, taking the service providing condition of the unmatched roadside unit and the service providing condition of the unmatched service vehicle as the service providing condition of the roadside unit and the service providing condition of the service vehicle, returning to continuously execute the service providing condition according to the task demand of the task vehicle, determining the service vehicle and the roadside unit which can provide service for the task vehicle as pre-service equipment, and unloading the task on the matched service equipment by all the task vehicles after the matched task vehicle is completed.

In a second aspect, an embodiment of the present invention provides a vehicle and roadside unit cooperative offloading task device based on mobile edge computing, including:

the system comprises a monitoring module, a data processing module and a data processing module, wherein the monitoring module is used for monitoring vehicle resources and roadside unit resources in a mobile edge computing network, and the vehicles comprise task vehicles with insufficient residual resources for executing vehicle tasks and service vehicles with reserved idle resources;

the first processing module is used for determining a service vehicle and a roadside unit which can provide service for the task vehicle according to the task demand service condition of the task vehicle, and the service vehicle and the roadside unit are used as pre-service equipment;

the second processing module is used for determining the task vehicle which needs to be served by the roadside unit and the task vehicle which needs to be served by the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle;

the matching module is used for matching the task vehicle needing to be served by the roadside unit and the task vehicle needing to be served by the service vehicle with the pre-service equipment to obtain matching service equipment and a matching task vehicle corresponding to the matching service equipment;

a generating module, configured to generate a task offloading scheme based on the matching service device and the matching task vehicle, where the task offloading scheme includes: sending a request for unloading a task to the matching service equipment by the matching task vehicle, responding to the request by the matching service equipment, sending the response to a roadside unit with idle resources in a communication range of the matching service equipment under the condition that the matching task vehicle exceeds the communication range of the matching service equipment when the matching service equipment is a service vehicle, and forwarding the response to the matching task vehicle by the roadside unit with idle resources;

and the third processing module is used for transmitting the task unloading scheme to the matching service equipment and the matching task vehicle so as to finish the task unloading of the matching task vehicle on the matching service equipment.

Further, the first processing module is configured to:

the second processing module is configured to:

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of the first aspect when executing the program stored in the memory.

In a fourth aspect, the present invention provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to perform the steps of the method of any one of the above first aspects.

The embodiment of the invention has the following beneficial effects:

according to the vehicle and roadside unit collaborative task unloading method and device based on mobile edge computing provided by the embodiment of the invention, when the matching service device is a service vehicle and the matching task vehicle exceeds the communication range of the matching service device, a response is sent to a roadside unit with idle resources in the communication range of the matching service device, and the roadside unit with idle resources forwards the response to the matching task vehicle, so that the computing task is shared by the matching service device serving as the service vehicle, the load of an MEC server in the roadside unit can be reduced, and the roadside unit with idle resources is used as a relay node to respond to the task vehicle through two-hop transmission, so that the reliable transmission of the unloading task and the reliable return of the response are ensured. And matching the task vehicles of the roadside units and the task vehicles needing services by the service vehicles with the pre-service equipment to obtain the matching service equipment and the matching task vehicles corresponding to the matching service equipment, namely, bidirectional matching, so that different task vehicles can meet the requirements of respective unloading tasks.

Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a first flowchart of a method for cooperative task offloading of a vehicle and a roadside unit based on mobile edge computing according to an embodiment of the present invention;

FIG. 2 is a block diagram of a mobile edge computing network according to an embodiment of the present invention;

FIG. 3 is a second flowchart of a method for cooperative offloading of a vehicle and a roadside unit based on mobile edge computing according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a mobile edge computing-based vehicle and roadside unit cooperative offloading task device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Aiming at the problem that the burden of an MEC server in the prior art is large, the embodiment of the invention provides a vehicle and roadside unit cooperative task unloading method and device based on mobile edge computing. And matching the task vehicles of the roadside units and the task vehicles needing services by the service vehicles with the pre-service equipment to obtain the matching service equipment and the matching task vehicles corresponding to the matching service equipment, namely, bidirectional matching, so that different task vehicles can meet the requirements of respective unloading tasks.

First, a method for cooperative offloading of a vehicle and a roadside unit based on moving edge calculation according to an embodiment of the present invention is described below.

The vehicle and roadside unit cooperative task unloading method based on the mobile edge calculation is applied to electronic equipment, and the electronic equipment can be a roadside unit and an MEC server.

As shown in fig. 1, a method for cooperative offloading of a vehicle and a roadside unit based on mobile edge computing according to an embodiment of the present invention may include the following steps:

and step 110, monitoring vehicle resources and roadside unit resources in the mobile edge computing network, wherein the vehicles comprise task vehicles with insufficient residual resources for performing vehicle tasks and service vehicles with idle resources. Therefore, the resources of each node such as vehicles and roadside units in the mobile edge computing network can be monitored, wherein the position of each node is represented by a two-dimensional coordinate system.

The Task vehicle (TaV for short) in the step 110 refers to a vehicle that has insufficient remaining resources to perform a vehicle Task and needs other service devices to provide service, where the other service devices may be service vehicles or roadside units. A Service vehicle (SeV) is a vehicle that can provide services to a task vehicle through free resources, as opposed to a task vehicle. The number of the task vehicles can be one or more than two, and the service vehicle generally provides service for one task vehicle, so that the burden of the service vehicle can be reduced.

For a service vehicle, the free resources of the service vehicle are used for being able to perform a vehicle task to complete a task vehicle; whereas for a road side unit, the free resources of the road side unit are used for being able to perform a vehicle task of completing at least one task vehicle.

The vehicle task may be a calculation task, and the response corresponding to the request of the calculation task is a calculation result obtained later by the calculation task. Task available tuple { D) where task vehicle can TaV m_m，C_m，θ_m，γ_mDescription of D_mIndicating the size of the task, C_mIndicating the number of processor revolutions required for a calculation task, i.e. the number of calculations, theta_mSensitivity of delay, gamma, indicating the priority of execution of tasks by different applications_mThe output and input of the representation task are 1 sheet output than 2 sheets input, so that the output data volume is small compared with the output data volume and the transmission is fast.

And step 120, determining a service vehicle and a roadside unit which can provide service for the task vehicle as pre-service equipment according to the task demand service condition of the task vehicle.

And step 130, determining the task vehicles needed to be served by the roadside units and the task vehicles needed to be served by the service vehicles according to the service providing conditions of the roadside units and the service providing conditions of the service vehicles.

And 140, matching the task vehicles needing to be served by the roadside units and the task vehicles needing to be served by the service vehicles with the pre-service equipment to obtain matching service equipment and matching task vehicles corresponding to the matching service equipment.

Step 150, generating a task unloading scheme based on the matched service device and the matched task vehicle, wherein the task unloading scheme comprises: the matching service device sends a request for unloading the task to the matching service device, the matching service device responds to the request, and when the matching service device is the service vehicle and the matching task vehicle exceeds the communication range of the matching service device, the matching service device sends a response to a roadside unit with idle resources in the communication range of the matching service device, and the roadside unit with idle resources forwards the response to the matching service vehicle.

And step 160, spreading a task unloading scheme to the matching service equipment and the matching task vehicle to finish the task unloading of the matching task vehicle on the matching service equipment.

This step 160 may further employ the following rate formula to accomplish the task unloading of the matching task vehicle on the matching service device:

wherein r is_mn(t) is the instantaneous transmission rate of TaV m to SeV n, r_mR(t) is the instantaneous transmission rate of TaV m to RSU, B is the channel bandwidth, p₀Is the channel gain per unit distance, P is the transmission power, σ²Is the noise power, α is the path loss coefficient; TaV M denotes the Mth TaV, SeV n denotes the nth TaV;

wherein d is_mn(t) is the instantaneous distance between TaV m and SeV n, d_mR(t) is the instantaneous distance of TaV m and RSU, R is RSU,

the relative distance of the mission vehicle from the RSU,

to service the relative distance of the vehicle from the RSU,

is the velocity of TaV m relative to the RSU,

the velocity of SeV n relative to RSU. T is a superscript representing TaV, m is the number index of TaV in the network, S is a superscript representing SeV, and n is the number index of SeV in the network. t is the time from time 0. h is the height of the antenna disposed on the roadside unit, and the position of the antenna disposed on the RSU is (0, h). The movement model of TaV m is represented as

Is the initial position of TaV m. Similarly, the movement model of SeV n is represented as

Is the initial position of SeV n. Therefore, the performance of the device cannot be influenced too much by considering only large-scale fading, the speed of the vehicle is kept unchanged in the process of task unloading and task calculation, small-scale fading is ignored in channel gain, only path loss is considered, the instantaneous transmission rate from TaV m to SeV n and the instantaneous transmission rate from TaV m to RSU are obtained, and task unloading and task calculation are conveniently completed.

In the embodiment of the invention, when the matching service equipment is the service vehicle and the matching task vehicle exceeds the communication range of the matching service equipment, the response is sent to a roadside unit with free resources in the communication range of the matching service equipment, and the roadside unit with the free resources forwards the response to the matching task vehicle, so that the computing task is shared by the matching service equipment which is the service vehicle, the load of an MEC server in the roadside unit can be reduced, and the roadside unit with the free resources is used as a relay node and transmits the response to the task vehicle through two hops, so that the reliable transmission of the unloading task and the reliable return of the response are ensured. And matching the task vehicles of the roadside units and the task vehicles needing services by the service vehicles with the pre-service equipment to obtain the matching service equipment and the matching task vehicles corresponding to the matching service equipment, namely, bidirectional matching, so that different task vehicles can meet the requirements of respective unloading tasks.

For the above step 110, the remaining resources may refer to remaining local computing resources, and the idle resources may refer to idle computing resources. As shown in fig. 2, such TaV local computing resources are occupied by other applications, and tasks generated during the occupation are required to be offloaded to other service devices for computation; another type of SeV has spare computing resources that may provide TaV with computing services that may be compensated accordingly.

The task demand service condition refers to a condition related to a task when the task of the task vehicle is described. The service provision situation is a situation in which the service device and the resource are related to each other in order to provide the service to the task vehicle. Based on the task vehicle and the service vehicle in step 110, the service vehicle and the roadside unit capable of providing service for the task vehicle in step 120 can be determined in many possible ways, and in one possible way, the service vehicle and the roadside unit capable of providing optimal service for the task vehicle are determined as pre-service equipment according to the task demand service condition of the task vehicle.

Step 130, corresponding to step 120 of the above one possible method, further includes: and determining the task vehicle with the highest demand service of the roadside unit and the task vehicle with the highest demand service of the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle.

In the embodiment of the invention, when the task demand service condition is the highest demand service condition, the service matching condition is the optimal service matching, wherein the optimal service matching refers to that the distance between the pre-service equipment and the task vehicle under the highest demand service condition is minimum, no resource competition exists between the pre-service equipment and the task vehicle under the highest demand service condition, and the idle resource of the pre-service equipment is maximum.

The serving vehicle and the roadside unit which provide the optimal service for the task vehicle are used as the pre-serving equipment, namely the pre-serving equipment which has the minimum distance with the task vehicle, has no resource competition with the task vehicle and has the maximum idle resources.

The task vehicle with the highest demand service of the roadside unit and the task vehicle with the highest demand service of the service vehicle refer to the task vehicle with the smallest task, the highest time delay sensitivity of the task priority and the smallest number of revolutions of a processor required for calculating each task; or the task vehicle with the largest task, the highest time delay sensitivity of the task priority and the largest number of revolutions of the processor required for calculating each task. Therefore, the task vehicle with the highest service requirement and the pre-service equipment with the optimal service can be found through matching of the two parties, so that the matching can be performed quickly, and the efficiency is improved.

In another possible mode, determining a service matching condition according to the task demand service condition of the task vehicle; and determining the service vehicle and the roadside unit which can meet the service matching condition from the service vehicle and the roadside unit as pre-service equipment.

It should be noted that the task demand service condition of the task vehicle may be determined as follows:

and sequencing the task vehicles based on the size of the task of each task vehicle, the time delay sensitivity of the task priority and the revolution number of a processor required by the task, so as to obtain the task demand service condition of each task vehicle.

Because the task related information such as the size of the task of each task vehicle, the time delay sensitivity of the task priority corresponding to the execution application, the number of revolutions of a processor required by the calculation task and the like has the processing sequence with different priorities, each task vehicle can be sequenced according to the processing sequence with different priorities, and the task demand service condition of each task vehicle is obtained. In the first step, the vehicles of all tasks are sorted according to the time delay sensitivity of the task priority; then, the first few task vehicles with higher time delay sensitivity relative to the time delay sensitivity of other task vehicles are found from the sequenced task vehicles;

secondly, sequencing the first few task vehicles with higher time delay sensitivity relative to other task vehicles according to the size of the task of each task vehicle; then, finding out the front few task vehicles with smaller tasks compared with other task vehicles from the sequenced task vehicles;

and thirdly, sequencing the front task vehicles with smaller tasks compared with other task vehicles according to the revolution number of the processor required by the calculation task, and finding out the front task vehicles with smaller revolution number of the processor required by the calculation task compared with the revolution number of the processor required by the calculation task of other task vehicles from the sequenced task vehicles.

This results in a vehicle with higher latency sensitivity relative to other task vehicles, a smaller task relative to other task vehicles, and a smaller number of processor revolutions required for vehicle calculation tasks relative to other tasks. Of course, the above sorting order is only an example, and different sorting orders may be determined based on the size of the task of each task vehicle, the time delay sensitivity of the task priority, and the number of revolutions of the processor required for calculating the task according to actual needs.

Based on the task demand service condition of each task vehicle, the determination mode of the service matching condition has multiple possible implementation modes, in one possible implementation mode, the distance between each roadside unit and each service vehicle and each task vehicle, whether resource competition exists between each roadside unit and each service vehicle and each task vehicle, and the roadside unit and each service vehicle have the respective distribution weight of the size of idle resources to obtain the service providing value of each roadside unit and the service providing value of each service vehicle; and taking the service providing value of the roadside unit and the service providing value of the service vehicle at the front O bit with larger service providing value as a service matching condition, wherein O is an integer more than or equal to 1.

The embodiment of the invention can adopt the following formula to determine the service matching condition according to the task requirement service condition of the task vehicle:

the preference function for TaV m using SeV n and RSU is as follows:

wherein the content of the first and second substances,

the preference value for the nth SeV to the mth TaV, i.e., the above-described service matching condition,

the cost for transmitting unit bit data for V2V, trans refers to the transmission cost, V refers to V2V transmission, D_mFor the task size of the TaV m,

cost per revolution for SeV, com denotes calculating the cost of computing, F_nThe maximum computing resource for SeV n, i.e. the maximum computing frequency of the spare CPU, μ is the weight of the time delay, θ_mGenerating a delay sensitivity of task priorities for TaV m, C_mThe number of CPU revolutions required for the task is calculated for TaV m,

to predict task offload latency from TaV m to SeV n, off refers to task offload,

for the RSU preference value for TaV m,

the cost required to transfer a unit of bit data for V2R,

the cost required for the RSU to execute the unit-specific number of revolutions, F_RIs a computational resource of the RSU, R denotes an RUS,

and (4) the task unloading time delay from TaV m to RSU is estimated. The above equation shows that SeV and RSU are better preferred to TaV where communication computing resource requirements are high and latency requirements are high.

The service value of the roadside unit and the service value of the service vehicle

Step 130, corresponding to step 120 of the above one possible method, further includes: determining a task matching condition according to the service providing condition of the roadside unit and the service providing condition of the service vehicle; and selecting the task vehicles meeting the task matching conditions from the task vehicles as the task vehicles needing services by the roadside units and the task vehicles needing services by the service vehicles.

It should be noted that the service providing situation of the roadside unit and the service providing situation of the service vehicle may be determined as follows: the roadside units and the service vehicles are respectively provided with the size of idle resources based on the distances between the roadside units and the service vehicles and the task vehicles, and whether resource competition exists between the roadside units and the service vehicles and the task vehicles or not, and the roadside units and the service vehicles are sequenced to obtain the service providing conditions of the roadside units and the service providing conditions of the service vehicles.

Of course, in the step, "the service providing condition of the roadside unit and the service providing condition of the service vehicle" and "the task requirement service condition of the task vehicle" may be determined in the same manner as the specific determination manner of the task requirement service condition of the task vehicle, except that the processing objects of "the distance between the roadside unit and the service vehicle and the task vehicle, whether resource competition exists between the roadside unit and the service vehicle and the task vehicle, and whether the roadside unit and the service vehicle have the size of idle resources" are different, and the specific determination manner of the specific determination manner is the same as the specific determination manner of the task requirement service condition of the task vehicle ", and thus, details thereof are not repeated.

Based on the service providing condition of the roadside unit and the service providing condition of the service vehicle, the determining mode of the task matching condition has a plurality of possible implementation modes, and in one possible implementation mode, the weight is respectively distributed to the size of the task of each task vehicle, the time delay sensitivity of the task priority and the rotation number of a processor required by the task, so that the task demand service value of each task vehicle is obtained; and taking the task demand service value of each task vehicle at the front P position with larger task demand service value as a task matching condition of the task vehicle, wherein P is an integer more than or equal to 1.

The embodiment of the invention can adopt the following formula to determine the task matching condition according to the service providing condition of the roadside unit and the service providing condition of the service vehicle:

the preference function for SeV n and RSU using TaV m is as follows:

wherein the content of the first and second substances,

preference values for m TaV for n SeVs and RSUs, i.e. the above task matching condition, β_dAs a weight parameter, d_mn(0) The distance between TaV m and SeV n at the initial time,

the distance from TaV m to SeV n when the task is unloaded,

as a preference value of TaV m for RSU, d_mR(0) Is the distance between TaV m and RSU at the initial instant,

for the distance between TaV m and RSU when the task is unloaded, F_nSeV n, i.e., the computational frequency of the processor. The above equation shows that TaV prefers to have more compute resources and less distant offload nodes.

To facilitate generating the task offloading scheme, the step 150 further includes:

under the condition that the matching service equipment is a roadside unit, judging whether the idle resources of the roadside unit can execute all tasks of the matching task vehicles except for executing other matching task vehicles; if one roadside unit can execute all tasks of the matched task vehicle, generating a task unloading scheme for unloading the tasks of the matched task vehicle on one roadside unit; alternatively, the first and second electrodes may be,

under the condition that the matching service equipment is a service vehicle, judging whether the service vehicle can execute all tasks of the matching task vehicle; if one service vehicle can execute all tasks of the matched task vehicle, a task unloading scheme for unloading the tasks of the matched task vehicle on the service vehicle is generated.

The scenario in which this step 150 in the embodiment of the present invention is applied may be that the service vehicle and the task vehicle are opposite in driving direction, and when the service vehicle returns a response, the task vehicle is out of the communication range of the service vehicle.

Therefore, the step 160 can transmit the task unloading scheme to the matching service device and the matching task vehicle, the matching service device of the serving vehicle and the roadside unit with the spare computing resource cooperate with each other to complete the task unloading of the matching task vehicle to the matching service device.

Other application scenarios of the embodiment of the present invention may also be that when the service vehicle returns a response, the task vehicle is in the communication range of the service vehicle, and the task vehicle directly communicates with the service vehicle, or when the roadside unit returns a response, the task vehicle is in the communication range of the roadside unit, and the task vehicle directly communicates with the roadside unit.

Based on the above multiple application scenarios, there are multiple different task offloading schemes, where the task offloading scheme includes: the matching task vehicle sends a request for unloading the task to the matching service equipment, and returns a response to the matching task vehicle under the condition that the matching task vehicle is in the communication range of the matching service equipment;

based on the task offloading scheme, the step 160 further includes: and transmitting a task unloading scheme to the matching service equipment and the matching task vehicle, and completing the task unloading of the matching task vehicle on the matching service equipment by the matching task vehicle and the matching service equipment through the mutual matching. Thus, the application of each scene can be satisfied, and the details are shown in fig. 2.

The task unloading decision can be realized by adopting the following formula, wherein the task is unloaded from TaV m to SeV n or RSU:

wherein A ═ { a ═ a_mnI M belongs to M, N belongs to N and is TaV task unloading decision to SeV, a_mn1 indicates that the size of the transmission amount of SeV n is equal to the size of the task of offload TaV, which means that the transmission amount of SeV n can just handle the offload TaV task, and then the task is offloaded from TaV m to SeV n, a_mnIf 0 indicates that the transmission amount of SeV n is 0, which indicates that the transmission amount of SeV n cannot process the unloading TaV task, the task cannot be unloaded from TaV m to SeV n;

B＝{b_mi M ∈ M } is a task offload decision from TaV to the RSU, b_m1 indicates that the task is offloaded from TaV m to RSU and the task cannot be offloaded from TaV m to SeV n, b_m0 means that a task cannot be offloaded from TaV m to this RSU, a task can be offloaded from TaV m to SeV n or a task can be offloaded from TaV m to other b_mRSU of 1. Each TaV in the embodiment of the invention can only offload one task to other nodes, and each SeV can only be usedTasks from one TaV, while the RSU can handle multiple TaV tasks; tau is_mnIndicating the link connection time of TaV m and SeV n, and,

l is the maximum transmission distance of the V2V communication at the transmission power P, sign (.) represents a sign function, wherein if the value of the sign (.) variable is greater than 0, the function value is +1, otherwise, the function value is-1. χ () is an indicative function, where the variable of χ () is 'true', the function value is 1, and otherwise it is 0.

D_mThe size of the task data can be offloaded from TaV m to TaV n, otherwise

D_mThe size of the task data cannot be offloaded from TaV m to TaV n. Thus, when the communication distance of the vehicle is limited and the link of V2V is unstable, it can be indicated whether the task can be offloaded from TaV m to SeV n.

How the response is returned from the SeV n or RSU to the TaV m in the task offloading decision can be realized by using the following formula, which is specifically described as follows:

in general, cellular communication is adopted between the RSU and the vehicle, the RSU has a large communication distance, and the embodiment of the invention considers that the communication between the RSU and the vehicle is stable in a dotted circle as shown in fig. 2, namely, the RSU coverage area, and the link between the vehicles has a problem of connection interruption due to vehicle mobility. Thus, for response, there are three ways of response return that may be considered by embodiments of the present invention. As shown in fig. 2, the first response returning means 11 is that TaV01 returns the calculation result obtained after the task calculation unloaded to the RSU is completed, directly through a Vehicle-to-Infrastructure (V2I) communication means; the second response return mode 12 is that TaV01 is unloaded to SeV02 and the task is returned directly by means of Vehicle-to-Vehicle (V2V); the third response return method 13 is that TaV01 returns the task offloaded to the SeV02 in a two-hop method with the RSU as a relay node.

The first response returning mode adopts the following formula and uses a calculation resource allocation strategy F^RThe return of the response from the RSU to TaV m in the task offloading decision can be implemented:

wherein the content of the first and second substances,

for the transmission delay of offloading the task from TaV m to the RSU,

for the computation latency of task offloading from TaV m to RSU, off refers to task offloading, com refers to compute computer, f_RmIs the computing resource allocated by the RSU to TaV m, i.e. the computing frequency of the processor (CPU), F^R＝{f_RmAnd | M belongs to M } is a computing resource allocation strategy of the RSU, so that the TaV M unloads the task to the RSU, and the response can be directly returned to the TaV M.

The second and third response return modes adopt the following formula and use the calculation resource allocation strategy F^SThe return of the response from SeV n to TaV m through direct V2V communication or two-hop V2I communication can be implemented as follows:

wherein the content of the first and second substances,

for the transmission delay of offloading the task from TaV m to SeV n,

calculation delay for task offloading from TaV m to SeV n, f_nmIs the computing resource assigned by SeV n to TaV m, i.e. the computing frequency of the CPU, F^S＝{f_nmThe M belongs to the M and is a calculation resource allocation strategy of SeV n, and C is equal to { C ═ C_mnL M belongs to M, N belongs to N and represents a response return decision, c_mn1 denotes that SeV n returns the calculated response directly by means of V2V, c_mn0 means that SeV n returns the response over a two-hop V2I transmission. When TaV m unloads the task to SeV n, if SeV n finishes the task calculation, the distance between the SeV n and TaV m exceeds the maximum communication range of the vehicle, namely

Then the computational response can only be returned by two hops, c_mn0; otherwise, both the direct return of V2V and the two-hop return of V2I can be adopted, c_mnLess than or equal to 1. Thus, if TaV m offloads the task to SeV n, the response of the computing task can be returned via direct V2V communication or two-hop V2I communication.

Since different flow rates are generated for different task volumes, the total cost of TaV m can be expressed as:

wherein the content of the first and second substances,

wherein the content of the first and second substances,

total is the total cost of TaV m, total is the total cost, in distinction to other costs,

for the communication charges of the TaV m,

for the calculated cost of TaV m, b_mIndicating whether TaV m is offloaded to the RSU,

for the cost of the V2I communication (unit:/bit),

the cost (unit:/bit), γ, of the V2V communication_mCalculating the ratio of the result size to the task size for the task, a_mnIndicating whether TaV m is offloaded to SeV n, c_mnIndicates whether SeV returns the result by the two-hop V2R relay mode,

for the calculated service charges offloaded on the SeV (units:/cycle/GHz),

for calculation of service charges (unit:/cycle/GHz), offloaded on the RSU, f_RmCalculation frequency, f, allocated to TaV m for RSU_nmThe calculation frequency assigned to TaV m for SeV n.

To simplify the formula, one can use

And

the transmission delay and the calculation delay of the TaV m task are represented, and the following can be obtained:

in the task unloading process and the task calculating process, communication and calculated service fees need to be charged, and since V2I communication is generally managed by an operator, and V2V communication is generally constructed by vehicle self-organization as a network, the communication and calculation fees at the RSU end and the vehicle end are different. The vehicle mobility is fully considered in the MEC network, the RSU is used as a relay node to transmit and return the calculation result through two-hop V2R, and the reliable transmission of the unloading task and the reliable return of the calculation result are guaranteed. Therefore, the heterogeneous task unloading algorithm of the vehicles and the vehicle roads and the allocation strategy of the computing resources are provided, and the optimal optimization effect of time delay and cost in the network is efficiently achieved.

To obtain the above-mentioned computing resource allocation policy F^SAnd a computing resource allocation policy F^RThe method is realized by adopting the following formula:

first, the embodiment of the present invention can achieve the objective of optimizing the weighted values of the user cost and the task delay within the entire network range, so as to improve the overall service quality of the user. The following expression is then optimized:

in this equation, μ is the delay weight, θ_mIs the delay sensitivity level. a is_mnAnd b_mIs an integer variable, f_nmAnd f_RmIs a continuous variable. Optimizing the expression below is a goal problem that is a Mixed Integer Nonlinear programming problem (MINLP), but MINLP is generally difficult to solve. The theoretical worst operation time for solving the problems is exponential, and a general solver is difficult to solve the problems in a medium-scale network. Thus, embodiments of the present invention find a better solution for the following algorithm. Thus in the distance-based strategy TaV selects an offload task, i.e., an offload target, based on the distances of the surrounding compute nodes. The embodiment of the invention compares the weighted sum of the time delay and the cost in the network under different SeV numbers, different RSU calculation frequencies and different time delay weights of the three strategies. Under different variable settings, the performance of the proposed algorithm is obviously superior to that of other two strategies, and the optimization performance of the proposed algorithm on time delay is better.

Second, given the task offload policies a and B, problem P1 is decoupled into two sub-problems:

question P2 about F^RFor convex functions, an optimal solution can be obtained by solving the KKT condition, which is given as follows:

wherein the intermediate variable ∈ satisfies:

problem P3 is a piecewise convex programming problem that can be solved by dividing into multi-segment intervals. The optimal solution is given below:

as shown in fig. 3, in order to optimize the weighting of the communication computation cost and the time delay of the users in the range of the whole mobile edge computing network, TaV with high computation and communication requirements needs to be unloaded to the SeV or RSU with high computation resources and good channel quality. Thus, embodiments of the present invention follow step 160 above, the method further comprising:

step 170, taking the task demand service condition of the unmatched task vehicle as the task demand service condition of the task vehicle, taking the service providing condition of the unmatched roadside unit and the service providing condition of the unmatched service vehicle as the service providing condition of the roadside unit and the service providing condition of the service vehicle, and returning to continue the step 120;

step 180, judging whether unmatched task vehicles exist; if so, i.e., there are still unmatched task vehicles, then step 170 is performed; if not, namely no unmatched task vehicle exists, executing step 190;

and 190, all the task vehicles finish all the matched task vehicles and unload the tasks on the matched service equipment.

In the embodiment of the present invention, the matching algorithm corresponding to step 110 to step 190 is used to obtain the task offloading scheme meeting the above requirement. The matching algorithm is implemented as follows:

first, it should be noted that: the RSU computing frequency is used to represent RSU computing resources, for example, if the RSU computing resources have 4 resources, 1 resource is occupied, and 3 remaining resources, it means that the RSU computing frequency is 4, the occupied RSU computing frequency is 1, and the remaining RSU computing frequency is 3. The task matching condition refers to the preference of TaV m for RSU and SeV n, and the service matching condition refers to the preference values of n SeV and RSU for m TaV respectively.

The method comprises the following steps: setting initial RSU calculation frequency to

Each TaV M in the set M' pairs RSU and satisfies the condition

SeV n establishes a preference list, noted as

And ordering the preference values from large to small, and expressing the name of the pre-service equipment N ∈ N' [ U ] { RSU } in TaV m as

Each TaV m nematic table

The top k ranked pre-serving device issues a request, here,

this allows TaV to be traversed as much as possible to the pre-service device.

Where M { 1., M } represents the set of TaV, M represents the mth TaV in the set of TaV, M represents the mth TaV in the set of TaV, and the total number of tavs is M. N { 1., N } denotes a set of sevs, N denotes an nth SeV in the set of sevs, the total number of sevs is N, M 'denotes unmatched TaV, N' denotes an unmatched set of sevs, τ is_mnIs TaV m and SeV n time of remaining connected, r_mn(t) is the instantaneous data transmission rate from TaV m to SeV n, t is time, F'_RThe RSU residual calculation frequency, F, preset for the purpose of determining the unloading decision in the scheme_RThe frequency is calculated for the RSU.

Step two: each pre-serving device N ∈ N { RSU } establishes a preference list to the TaV requesting it, noted as

And sort the preference values from large to small. Expressing the name of TaV m in the pre-service equipment N ∈ N ` U ` { RSU }as

Step three: for M ∈ M' and N ∈ N { RSU }, a ranking function is built as follows:

wherein, beta_TWeight parameter, β, for the SeV and RSU of TaV_HWeight parameter, ψ, for the pair of RSU and SeV TaV_n(m) and psi_m(n) is TaV matching degree with SeV and RSU,

rank the RSU and SeV preferences in the TaV m list,

the TaV m preferences in the RSU and SeV lists are ranked, thus matching highly demanding TaV with highly capable pre-service devices.

Step four: each TaV m selection list

Middle psi_m(N) the pre-service device with the largest value sends a selection request, and the pre-service device N ∈ N' { RSU } which receives the selection request sends a psi_n(m) TaV with the largest value sends a selection reply, two by twoTaV and SeV or RSU, and updating the task unloading variable a according to the round matching_mnAnd b_m. Wherein, a_mnWhether TaV m is offloaded to SeV n, b_mIs whether TaV m is offloaded to the RSU.

Step five: calculated frequency F 'of RSU'_RThe following updates are performed:

TaV and SeV that have completed matching are removed from the set of unmatched, i.e., for condition a to be satisfied_m′n′1 and b_m′TaV M 'and SeV N' of 1, update M 'and N' as follows:

M′←{M′\m′}，

N′←{N′\m′}。

step six: the above step one and step are iterated repeatedly until all TaV have completed a match.

The following continues to describe the mobile edge computing-based vehicle and roadside unit cooperative offloading task device provided by the embodiment of the invention.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a mobile edge calculation-based vehicle and roadside unit cooperative offloading task device according to an embodiment of the present invention. The vehicle and roadside unit cooperative unloading task device based on mobile edge calculation provided by the embodiment of the invention can comprise the following modules:

the monitoring module 21 is used for monitoring vehicle resources and roadside unit resources in the mobile edge computing network, wherein the vehicles comprise task vehicles with insufficient residual resources for executing vehicle tasks and service vehicles with reserved idle resources;

the first processing module 22 is configured to determine a service vehicle and a roadside unit capable of providing service for the task vehicle according to a task demand service condition of the task vehicle, and use the service vehicle and the roadside unit as pre-service equipment;

the second processing module 23 is configured to determine a task vehicle that needs to be serviced by the roadside unit and a task vehicle that needs to be serviced by the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle;

the matching module 24 is used for matching the task vehicles needing to be served by the roadside units and the task vehicles needing to be served by the service vehicles with the pre-service equipment to obtain matching service equipment and matching task vehicles corresponding to the matching service equipment;

a generating module 25, configured to generate a task offloading scheme based on the matched service device and the matched task vehicle, where the task offloading scheme includes: the matching service equipment sends a request for unloading the task to the matching service equipment, the matching service equipment responds to the request, and when the matching service equipment is the service equipment and the matching task vehicle exceeds the communication range of the matching service equipment, the matching service equipment sends a response to a roadside unit which is reserved with idle resources in the communication range of the matching service equipment, and the roadside unit which is reserved with the idle resources forwards the response to the matching service equipment;

and the third processing module 26 is used for spreading the task unloading scheme to the matching service device and the matching task vehicle so as to complete the task unloading of the matching task vehicle on the matching service device.

In one possible implementation manner, the first processing module is configured to:

a second processing module to:

and selecting the task vehicles meeting the task matching conditions from the task vehicles as the task vehicles needing services by the roadside units and the task vehicles needing services by the service vehicles.

In one possible implementation, the apparatus further includes:

the fourth processing module is used for sequencing the task vehicles based on the size of the tasks of the task vehicles, the time delay sensitivity of the task priority and the revolution number of the processor required by the task, and obtaining the task demand service condition of each task vehicle before determining the service matching condition according to the task demand service condition of the task vehicles;

the device still includes: and the fifth processing module is used for sequencing the roadside units and the service vehicles according to the service providing condition of the roadside units and the service providing condition of the service vehicles based on the distance between the roadside units and the service vehicles and the resource competition between the roadside units and the service vehicles and the task vehicles respectively before the task matching condition is determined according to the service providing condition of the roadside units and the service providing condition of the service vehicles, wherein the roadside units and the service vehicles respectively have the size of idle resources.

In a possible implementation manner, when the task demand service condition is the highest demand service condition, the service matching condition is that the distance between the pre-service device and the task vehicle in the highest demand service condition is minimum, there is no resource contention between the pre-service device and the task vehicle in the highest demand service condition, and the idle resource of the pre-service device is maximum.

In one possible implementation, the apparatus further includes: a sixth processing module for:

respectively distributing weights for the roadside unit and the service vehicle according to the size of idle resources to obtain a service providing value of the roadside unit and a service providing value of the service vehicle;

and setting the service providing value of the roadside unit and the service providing value of the service vehicle at the front O bit with larger service providing value as a service matching condition.

In one possible implementation, the apparatus further includes: a seventh processing module to:

and taking the task demand service value of each task vehicle in the front P position with larger task demand service value as a task matching condition of the task vehicle.

In one possible implementation, the task offloading scheme includes: the matching task vehicle sends a request for unloading the task to the matching service equipment, and returns a response to the matching task vehicle under the condition that the matching task vehicle is in the communication range of the matching service equipment;

a third processing module to:

and transmitting a task unloading scheme to the matching service equipment and the matching task vehicle, and completing the task unloading of the matching task vehicle on the matching service equipment by the matching task vehicle and the matching service equipment through the mutual matching.

In one possible implementation, the apparatus further includes:

and the eighth processing module is used for spreading the task unloading scheme to the matching service equipment and the matching task vehicle so as to finish unloading the task on the matching service equipment by the matching task vehicle, taking the task demand service condition of the unmatched task vehicle as the task demand service condition of the task vehicle, taking the service providing condition of the unmatched roadside unit and the service providing condition of the unmatched service vehicle as the service providing condition of the roadside unit and the service providing condition of the service vehicle, and returning to continue executing the first processing module until all the task vehicles finish unloading the task on the matching service equipment by the matching task vehicle.

The following continues to describe the electronic device provided by the embodiment of the present invention.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The embodiment of the present invention further provides an electronic device, which includes a processor 31, a communication interface 32, a memory 33 and a communication bus 34, wherein the processor 31, the communication interface 32 and the memory 33 complete mutual communication through the communication bus 34,

a memory 33 for storing a computer program;

the processor 31, when executing the program stored in the memory 33, is configured to implement the steps of the method for cooperatively offloading tasks between the roadside unit and the vehicle based on the moving edge calculation, in one possible implementation manner of the present invention, the following steps may be implemented:

monitoring vehicle resources and roadside unit resources in a mobile edge computing network, wherein vehicles comprise task vehicles with insufficient residual resources for executing vehicle tasks and service vehicles with reserved idle resources;

determining a task vehicle needing service by the roadside unit and a task vehicle needing service by the service vehicle according to the service providing condition of the roadside unit and the service providing condition of the service vehicle;

matching the task vehicles needing to be served by the roadside unit and the task vehicles needing to be served by the service vehicles with pre-service equipment to obtain matching service equipment and matching task vehicles corresponding to the matching service equipment;

generating a task unloading scheme based on the matched service equipment and the matched task vehicles, wherein the task unloading scheme comprises the following steps: the matching service equipment sends a request for unloading the task to the matching service equipment, the matching service equipment responds to the request, and when the matching service equipment is the service equipment and the matching task vehicle exceeds the communication range of the matching service equipment, the matching service equipment sends a response to a roadside unit which is reserved with idle resources in the communication range of the matching service equipment, and the roadside unit which is reserved with the idle resources forwards the response to the matching service equipment;

The communication bus mentioned in the electronic device may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a RAM (Random Access Memory) or an NVM (Non-Volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

The embodiment of the invention provides a computer-readable storage medium, wherein a computer program is stored in the storage medium, and when being executed by a processor, the computer program realizes the steps of the vehicle and roadside unit cooperative task unloading method based on the mobile edge computing.

Embodiments of the present invention provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of the above-described method for mobile edge computing-based collaborative offloading of tasks by a vehicle and a roadside unit.

Embodiments of the present invention provide a computer program, which when run on a computer, causes the computer to perform the steps of the above-mentioned vehicle and roadside unit cooperative offloading task method based on mobile edge computing.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising" is used to specify the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof, but does not exclude the presence of other similar features, integers, steps, operations, components, or groups thereof.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus/electronic device/storage medium/computer program product/computer program embodiment comprising instructions, the description is relatively simple as it is substantially similar to the method embodiment, and reference may be made to some descriptions of the method embodiment for relevant points.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A vehicle and roadside unit cooperative task unloading method based on mobile edge calculation is characterized by comprising the following steps:

2. The method according to claim 1, wherein the step of determining a service vehicle and a roadside unit capable of providing service for the task vehicle as the pre-service equipment according to the task demand service condition of the task vehicle comprises the following steps:

3. The method of claim 2, wherein prior to said determining a service match condition in accordance with a mission requirement service condition of the mission vehicle, the method further comprises:

4. The method of claim 3, wherein when the task demand service condition is a highest demand service condition, the service matching condition is that the distance between the pre-service device and the task vehicle of the highest demand service condition is minimum, there is no resource competition between the pre-service device and the task vehicle of the highest demand service condition, and the free resource of the pre-service device is maximum.

5. The method of claim 3, wherein determining the service matching condition comprises:

6. The method of claim 3, wherein determining the task matching condition comprises:

7. The method of claim 1, wherein the task offload scheme comprises: sending a request for unloading a task to the matching service equipment by the matching task vehicle, and returning the response to the matching task vehicle under the condition that the matching task vehicle is in the communication range of the matching service equipment;

8. The method of claim 1, wherein after the propagating the task offload solution to the matching service device and the matching task vehicle to complete offloading of tasks by the matching task vehicle on the matching service device, the method further comprises:

9. A vehicle and roadside unit cooperative task unloading device based on mobile edge calculation is characterized by comprising:

10. The apparatus of claim 9, wherein the first processing module is to:

the second processing module is configured to: