Reliability-Aware Vehicular Communication and Mobility Optimization: Joint Data Transmission Scheduling and Motion Planning

Motion planning and vehicular communication are two enabling technologies for the practical realization of connected autonomous vehicles (CAVs), However, few studies have recently provided an effective systematic design from a joint optimization perspective. In our research, we present an optimization system that joins the reliability-oriented cellular vehicle-to-infrastructure communication (V2I) and the multi-objective motion planning into a model predictive control (MPC) model. We propose a stochastic model characterizing the V2I communication reliability and an optimization cost function for the motion planning of a CAV regarding control energy consumption, mobility efficiency, and smoothness. The system model is to maximize the V2I communication reliability meanwhile minimizing the motion cost by jointly optimizing the velocity and data transmission of the vehicle. Using an E-constraint method, we transform the multi-objective optimization model into a tractable problem and propose a numerical optimization algorithm to solve it. Simulation results demonstrate the validity of our joint optimization method for reliability-guaranteed vehicular communication and optimal motion planning and its performance outperforms several baselines.