Radio-Coverage-Aware Path Planning for Cooperative Autonomous Vehicles

Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or the cloud section of the network. Cooperation among AVs is successful when the environment is unknown, or changes dynamically, so as to improve coverage and trip time, and minimize the traveled distance. The AVs, while mapping the environment with range-based sensors, move across the wireless coverage areas, with consequences on the achieved access bit rate, latency, and handover rate. In this paper, we propose to modify the cost of path planning algorithms such as Dijkstra and A*, so that not only the traveled distance is considered in the best path solution, but also the radio coverage experience. To this aim, several radio-related cost-weighting functions are introduced and tested, to assess the performance of the proposed techniques with extensive simulations. The proposed mapping algorithm can achieve a mapping error probability below 2%, while the proposed path-planning algorithms extend the experienced radio coverage of the AVs, with limited distance increase with respect to shortest-path existing methods, such as conventional Dijkstra and A* algorithms.