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Autonomous Driving is now the promising future of transportation. As onebasis for autonomous driving, High Definition Map (HD map) provideshigh-precision descriptions of the environment, therefore it enables moreaccurate perception and localization while improving the efficiency of pathplanning. However, an extremely large amount of map data needs to betransmitted during driving, thus posing great challenge for real-time andsafety requirements for autonomous driving. To this end, we first demonstratehow the existing data distribution mechanism can support HD map services.Furthermore, considering the constraints of vehicle power, vehicle speed, basestation bandwidth, etc., we propose a HD map data distribution mechanism on topof Vehicle-to-Infrastructure (V2I) data transmission. By this mechanism, themap provision task is allocated to the selected RSU nodes and transmitsproportionate HD map data cooperatively. Their works on map data loading aimsto provide in-time HD map data service with optimized in-vehicle energyconsumption. Finally, we model the selection of RSU nodes into a partialknapsack problem and propose a greedy strategy-based data transmissionalgorithm. Experimental results confirm that within limited energy consumption,the proposed mechanism can ensure HD map data service by coordinating multipleRSUs with the shortest data transmission time.

An Energy-Efficient High Definition Map Data Distribution Mechanism for Autonomous Driving