Cloud Control System Architectures, Technologies and Applications on Intelligent and Connected Vehicles: a Review

Table 1 Comparison of different cloud related ICV projects Application Intelligent V2X ITS Smart city driving Strategy for Innovation and Development of Intelligent Vehicles Cloud-Assisted Real-time Methods for Autonomy (CARMA) i-Motors Cooperative Intelligent Transport Systems (C-ITS) Project √ Kooperatives Hochautomatisiertes Fahren (Ko-HAF) Germany √ √ [30, 33]

e stablish vehicle route only on demand based on Ad-hoc On-demand Distance Vector (AODV) routing algorithm. However, a larger and more complex vehicular configuration should be added to more closely mimic that of actual traffic.
With the deployment of energy-sufficient vehicles with permanent Internet presence, featuring substantial on-board computational, storage and sensing capabilities, in 2017, the concept of autonomous vehicular cloud (AVC) is formed to be a group of highly autonomous vehicles that corporate computing, sensing, communication and physical resources can be coordinated and dynamically allocated to authorized users. Based on cloud and vehicle side data fusion and cooperative planning, AVC can be used for different traffic management scenarios, including synchronizing traffic lights after clearing an accident, autonomous mitigation of recurring congestion, sharing on-road safety messages and the asset management control etc., mainly focusing on building a safe and efficient autonomous driving environment [31].
From previous concepts on cloud control, MANET targets to traffic status communication vehicles, and AVC targets to the sharing of dynamic high definition map between vehicles. Both of them lack of considering connected vehicles and integrating the vehicles, roads and cloud in a whole as an infrastructure. While in 2020, the concept of ICV Cloud control system (CCS) based on the integrated technology of vehicle-roadcloud and dynamic resource scheduling technology was firstly introduced systematically [13, 34]. It points out that CCS has five features: ubiquitous interconnection of vehicles, roads and clouds, digital mapping of all traffic elements, global performance optimization, efficient computing and scheduling, and high reliability of system operation. ICV CCS has been classified as the potential solution for supporting fully automated driving.