Examining the Use of Scott’s Formula and Link Expiration Time Metric for Vehicular Clustering

Implementing machine learning algorithms in the non-conducive environment of the vehicular network requires some adaptations due to the high computational complexity of these algorithms.K-clustering algorithms are simplistic,with fast performance and relative accuracy.However,their implementation depends on the initial selection of clusters number(K),the initial clusters’centers,and the clustering metric.This paper investigated using Scott’s histogram formula to estimate the K number and the Link Expiration Time(LET)as a clustering metric.Realistic traffic flows were considered for three maps,namely Highway,Traffic Light junction,and Roundabout junction,to study the effect of road layout on estimating the K number.A fast version of the PAM algorithm was used for clustering with a modification to reduce time complexity.The Affinity propagation algorithm sets the baseline for the estimated K number,and the Medoid Silhouette method is used to quantify the clustering.OMNET++,Veins,and SUMO were used to simulate the traffic,while the related algorithms were implemented in Python.The Scott’s formula estimation of the K number only matched the baseline when the road layout was simple.Moreover,the clustering algorithm required one iteration on average to converge when used with LET.

Falcon Optimization Algorithm-Based Energy Efficient Communication Protocol for Cluster-Based Vehicular Networks

Rapid development in Information Technology(IT)has allowed several novel application regions like large outdoor vehicular networks for Vehicle-to-Vehicle(V2V)transmission.Vehicular networks give a safe and more effective driving experience by presenting time-sensitive and location-aware data.The communication occurs directly between V2V and Base Station(BS)units such as the Road Side Unit(RSU),named as a Vehicle to Infrastructure(V2I).However,the frequent topology alterations in VANETs generate several problems with data transmission as the vehicle velocity differs with time.Therefore,the scheme of an effectual routing protocol for reliable and stable communications is significant.Current research demonstrates that clustering is an intelligent method for effectual routing in a mobile environment.Therefore,this article presents a Falcon Optimization Algorithm-based Energy Efficient Communication Protocol for Cluster-based Routing(FOA-EECPCR)technique in VANETS.The FOA-EECPCR technique intends to group the vehicles and determine the shortest route in the VANET.To accomplish this,the FOA-EECPCR technique initially clusters the vehicles using FOA with fitness functions comprising energy,distance,and trust level.For the routing process,the Sparrow Search Algorithm(SSA)is derived with a fitness function that encompasses two variables,namely,energy and distance.A series of experiments have been conducted to exhibit the enhanced performance of the FOA-EECPCR method.The experimental outcomes demonstrate the enhanced performance of the FOA-EECPCR approach over other current methods.

Anti-Byzantine Attacks Enabled Vehicle Selection for Asynchronous Federated Learning in Vehicular Edge Computing

In vehicle edge computing(VEC),asynchronous federated learning(AFL)is used,where the edge receives a local model and updates the global model,effectively reducing the global aggregation latency.Due to different amounts of local data,computing capabilities and locations of the vehicles,renewing the global model with same weight is inappropriate.The above factors will affect the local calculation time and upload time of the local model,and the vehicle may also be affected by Byzantine attacks,leading to the deterioration of the vehicle data.However,based on deep reinforcement learning(DRL),we can consider these factors comprehensively to eliminate vehicles with poor performance as much as possible and exclude vehicles that have suffered Byzantine attacks before AFL.At the same time,when aggregating AFL,we can focus on those vehicles with better performance to improve the accuracy and safety of the system.In this paper,we proposed a vehicle selection scheme based on DRL in VEC.In this scheme,vehicle’s mobility,channel conditions with temporal variations,computational resources with temporal variations,different data amount,transmission channel status of vehicles as well as Byzantine attacks were taken into account.Simulation results show that the proposed scheme effectively improves the safety and accuracy of the global model.

Adaptive Resource Allocation Algorithm for 5G Vehicular Cloud Communication

The current resource allocation in 5G vehicular networks for mobile cloud communication faces several challenges,such as low user utilization,unbalanced resource allocation,and extended adaptive allocation time.We propose an adaptive allocation algorithm for mobile cloud communication resources in 5G vehicular networks to address these issues.This study analyzes the components of the 5G vehicular network architecture to determine the performance of different components.It is ascertained that the communication modes in 5G vehicular networks for mobile cloud communication include in-band and out-of-band modes.Furthermore,this study analyzes the single-hop and multi-hop modes in mobile cloud communication and calculates the resource transmission rate and bandwidth in different communication modes.The study also determines the scenario of one-way and two-way vehicle lane cloud communication network connectivity,calculates the probability of vehicle network connectivity under different mobile cloud communication radii,and determines the amount of cloud communication resources required by vehicles in different lane scenarios.Based on the communication status of users in 5G vehicular networks,this study calculates the bandwidth and transmission rate of the allocated channels using Shannon’s formula.It determines the adaptive allocation of cloud communication resources,introduces an objective function to obtain the optimal solution after allocation,and completes the adaptive allocation process.The experimental results demonstrate that,with the application of the proposed method,the maximum utilization of user communication resources reaches approximately 99%.The balance coefficient curve approaches 1,and the allocation time remains under 2 s.This indicates that the proposed method has higher adaptive allocation efficiency.

Joint offloading strategy based on quantum particle swarm optimization for MEC-enabled vehicular networks

With the development of the mobile communication technology,a wide variety of envisioned intelligent transportation systems have emerged and put forward more stringent requirements for vehicular communications.Most of computation-intensive and power-hungry applications result in a large amount of energy consumption and computation costs,which bring great challenges to the on-board system.It is necessary to exploit traffic offloading and scheduling in vehicular networks to ensure the Quality of Experience(QoE).In this paper,a joint offloading strategy based on quantum particle swarm optimization for the Mobile Edge Computing(MEC)enabled vehicular networks is presented.To minimize the delay cost and energy consumption,a task execution optimization model is formulated to assign the task to the available service nodes,which includes the service vehicles and the nearby Road Side Units(RSUs).For the task offloading process via Vehicle to Vehicle(V2V)communication,a vehicle selection algorithm is introduced to obtain an optimal offloading decision sequence.Next,an improved quantum particle swarm optimization algorithm for joint offloading is proposed to optimize the task delay and energy consumption.To maintain the diversity of the population,the crossover operator is introduced to exchange information among individuals.Besides,the crossover probability is defined to improve the search ability and convergence speed of the algorithm.Meanwhile,an adaptive shrinkage expansion factor is designed to improve the local search accuracy in the later iterations.Simulation results show that the proposed joint offloading strategy can effectively reduce the system overhead and the task completion delay under different system parameters.

A Machine Learning-Based Attack Detection and Prevention System in Vehicular Named Data Networking

Named Data Networking(NDN)is gaining a significant attention in Vehicular Ad-hoc Networks(VANET)due to its in-network content caching,name-based routing,and mobility-supporting characteristics.Nevertheless,existing NDN faces three significant challenges,including security,privacy,and routing.In particular,security attacks,such as Content Poisoning Attacks(CPA),can jeopardize legitimate vehicles with malicious content.For instance,attacker host vehicles can serve consumers with invalid information,which has dire consequences,including road accidents.In such a situation,trust in the content-providing vehicles brings a new challenge.On the other hand,ensuring privacy and preventing unauthorized access in vehicular(VNDN)is another challenge.Moreover,NDN’s pull-based content retrieval mechanism is inefficient for delivering emergency messages in VNDN.In this connection,our contribution is threefold.Unlike existing rule-based reputation evaluation,we propose a Machine Learning(ML)-based reputation evaluation mechanism that identifies CPA attackers and legitimate nodes.Based on ML evaluation results,vehicles accept or discard served content.Secondly,we exploit a decentralized blockchain system to ensure vehicles’privacy by maintaining their information in a secure digital ledger.Finally,we improve the default routing mechanism of VNDN from pull to a push-based content dissemination using Publish-Subscribe(Pub-Sub)approach.We implemented and evaluated our ML-based classification model on a publicly accessible BurST-Asutralian dataset for Misbehavior Detection(BurST-ADMA).We used five(05)hybrid ML classifiers,including Logistic Regression,Decision Tree,K-Nearest Neighbors,Random Forest,and Gaussian Naive Bayes.The qualitative results indicate that Random Forest has achieved the highest average accuracy rate of 100%.Our proposed research offers the most accurate solution to detect CPA in VNDN for safe,secure,and reliable vehicle communication.

A Hierarchal Clustered Based Proactive Caching in NDN-Based Vehicular Network

An Information-Centric Network(ICN)provides a promising paradigm for the upcoming internet architecture,which will struggle with steady growth in data and changes in accessmodels.Various ICN architectures have been designed,including Named Data Networking(NDN),which is designed around content delivery instead of hosts.As data is the central part of the network.Therefore,NDN was developed to get rid of the dependency on IP addresses and provide content effectively.Mobility is one of the major research dimensions for this upcoming internet architecture.Some research has been carried out to solve the mobility issues,but it still has problems like handover delay and packet loss ratio during real-time video streaming in the case of consumer and producer mobility.To solve this issue,an efficient hierarchical Cluster Base Proactive Caching for Device Mobility Management(CB-PC-DMM)in NDN Vehicular Networks(NDN-VN)is proposed,through which the consumer receives the contents proactively after handover during the mobility of the consumer.When a consumer moves to the next destination,a handover interest is sent to the connected router,then the router multicasts the consumer’s desired data packet to the next hop of neighboring routers.Thus,once the handover process is completed,consumers can easily get the content to the newly connected router.A CB-PCDMM in NDN-VN is proposed that improves the packet delivery ratio and reduces the handover delay aswell as cluster overhead.Moreover,the intra and inter-domain handover handling procedures in CB-PC-DMM for NDN-VN have been described.For the validation of our proposed scheme,MATLAB simulations are conducted.The simulation results show that our proposed scheme reduces the handover delay and increases the consumer’s interest satisfaction ratio.The proposed scheme is compared with the existing stateof-the-art schemes,and the total percentage of handover delays is decreased by up to 0.1632%,0.3267%,2.3437%,2.3255%,and 3.7313%at the mobility speeds of 5 m/s,10 m/s,15 m/s,20 m/s,and 25 m/s,and the efficiency of the packet delivery ratio is improved by up to 1.2048%,5.0632%,6.4935%,6.943%,and 8.4507%.Furthermore,the simulation results of our proposed scheme show better efficiency in terms of Packet Delivery Ratio(PDR)from 0.071 to 0.077 and a decrease in the handover delay from 0.1334 to 0.129.

Asymptotic Performance Limits of Vehicular Location and Velocity Detection Towards 6G mmWave Integrated Communication and Sensing

In this paper,joint location and velocity estimation(JLVE)of vehicular terminals for 6G integrated communication and sensing(ICAS)is studied.We aim to provide a unified performance analysis framework for ICAS-based JLVE,which is challenging due to random fading,multipath interference,and complexly coupled system models,and thus the impact of channel fading and multipath interference on JLVE performance is not fully understood.To address this challenge,we exploit structured information models of the JLVE problem to render tractable performance quantification.Firstly,an individual closedform Cramer-Rao lower bound for vehicular localization,velocity detection and channel estimation,respectively,is established for gaining insights into performance limits of ICAS-based JLVE.Secondly,the impact of system resource factors and fading environments,e.g.,system bandwidth,the number of subcarriers,carrier frequency,antenna array size,transmission distance,spatial channel correlation,channel covariance,the number of interference paths and noise power,on the JLVE performance is theoretically analyzed.The associated closed-form JLVE performance analysis can not only provide theoretical foundations for ICAS receiver design but also provide a perfor mance benchmark for various JLVE methods。

面向绿色计算的车辆协同任务卸载方法

车辆边缘计算(VEC)为处理计算密集、延迟敏感型任务提供了新的范式,然而边缘服务器在整合可再生能源方面的能力较差。因此,为了提高边缘服务器的能效,该文设计了一种面向绿色计算的车辆协同任务卸载框架。在该框架中,车辆配备能源收集(EH)设备,通过彼此间共享绿色能源和计算资源协作执行任务。为有效促进车辆的参与积极性,该文通过动态定价激励车辆,并综合考虑了车辆的移动性、任务优先级等。为了使卸载决策适应动态环境的变化,该文提出了一种基于双延迟深度确定性策略梯度(TD3)的任务卸载方法,以在最大化所有车辆平均任务完成效用的同时减少边缘端电网电力的使用。最后,仿真结果验证了该方法的有效性,相比基于深度确定性策略梯度(DDPG)和基于贪心原则(GPE)的方法在性能上分别提升了7.34%和37.47%。

High Stable and Accurate Vehicle Selection Scheme Based on Federated Edge Learning in Vehicular Networks

Federated edge learning(FEEL)technology for vehicular networks is considered as a promising technology to reduce the computation workload while keeping the privacy of users.In the FEEL system,vehicles upload data to the edge servers,which train the vehicles’data to update local models and then return the result to vehicles to avoid sharing the original data.However,the cache queue in the edge is limited and the channel between edge server and each vehicle is time-varying.Thus,it is challenging to select a suitable number of vehicles to ensure that the uploaded data can keep a stable cache queue in edge server while maximizing the learning accuracy.Moreover,selecting vehicles with different resource statuses to update data will affect the total amount of data involved in training,which further affects the model accuracy.In this paper,we propose a vehicle selection scheme,which maximizes the learning accuracy while ensuring the stability of the cache queue,where the statuses of all the vehicles in the coverage of edge server are taken into account.The performance of this scheme is evaluated through simulation experiments,which indicates that our proposed scheme can perform better than the known benchmark scheme.

Task Offloading Based on Vehicular Edge Computing for Autonomous Platooning

Autonomous platooning technology is regarded as one of the promising technologies for the future and the research is conducted actively.The autonomous platooning task generally requires highly complex computations so it is difficult to process only with the vehicle’s processing units.To solve this problem,there are many studies on task offloading technique which transfers complex tasks to their neighboring vehicles or computation nodes.However,the existing task offloading techniques which mainly use learning-based algorithms are difficult to respond to the real-time changing road environment due to their complexity.They are also challenging to process computation tasks within 100 ms which is the time limit for driving safety.In this paper,we propose a novel offloading scheme that can support autonomous platooning tasks being processed within the limit and ensure driving safety.The proposed scheme can handle computation tasks by considering the communication bandwidth,delay,and amount of computation.We also conduct simulations in the highway environment to evaluate the existing scheme and the proposed scheme.The result shows that our proposed scheme improves the utilization of nearby computing nodes,and the offloading tasks can be processed within the time for driving safety.

A stochastic two-dimensional intelligent driver car-following model with vehicular dynamics

The law of vehicle movement has long been studied under the umbrella of microscopic traffic flow models,especially the car-following(CF)models.These models of the movement of vehicles serve as the backbone of traffic flow analysis,simulation,autonomous vehicle development,etc.Two-dimensional(2D)vehicular movement is basically stochastic and is the result of interactions between a driver's behavior and a vehicle's characteristics.Current microscopic models either neglect 2D noise,or overlook vehicle dynamics.The modeling capabilities,thus,are limited,so that stochastic lateral movement cannot be reproduced.The present research extends an intelligent driver model(IDM)by explicitly considering both vehicle dynamics and 2D noises to formulate a stochastic 2D IDM model,with vehicle dynamics based on the stochastic differential equation(SDE)theory.Control inputs from the vehicle include the steer rate and longitudinal acceleration,both of which are developed based on an idea from a traditional intelligent driver model.The stochastic stability condition is analyzed on the basis of Lyapunov theory.Numerical analysis is used to assess the two cases:(i)when a vehicle accelerates from a standstill and(ii)when a platoon of vehicles follow a leader with a stop-and-go speed profile,the formation of congestion and subsequent dispersion are simulated.The results show that the model can reproduce the stochastic 2D trajectories of the vehicle and the marginal distribution of lateral movement.The proposed model can be used in both a simulation platform and a behavioral analysis of a human driver in traffic flow.

Lightweight privacy-preserving truth discovery for vehicular air quality monitoring

Air pollution has become a global concern for many years.Vehicular crowdsensing systems make it possible to monitor air quality at a fine granularity.To better utilize the sensory data with varying credibility,truth discovery frameworks are introduced.However,in urban cities,there is a significant difference in traffic volumes of streets or blocks,which leads to a data sparsity problem for truth discovery.Protecting the privacy of participant vehicles is also a crucial task.We first present a data masking-based privacy-preserving truth discovery framework,which incorporates spatial and temporal correlations to solve the sparsity problem.To further improve the truth discovery performance of the presented framework,an enhanced version is proposed with anonymous communication and data perturbation.Both frameworks are more lightweight than the existing cryptography-based methods.We also evaluate the work with simulations and fully discuss the performance and possible extensions.

Lyapunov-Guided Optimal Service Placement in Vehicular Edge Computing

Vehicular Edge Computing(VEC)brings the computational resources in close proximity to the service requestors and thus supports explosive computing demands from smart vehicles.However,the limited computing capability of VEC cannot simultaneously respond to large amounts of offloading requests,thus restricting the performance of VEC system.Besides,a mass of traffic data can incur tremendous pressure on the front-haul links between vehicles and the edge server.To strengthen the performance of VEC,in this paper we propose to place services beforehand at the edge server,e.g.,by deploying the services/tasks-oriented data(e.g.,related libraries and databases)in advance at the network edge,instead of downloading them from the remote data center or offloading them from vehicles during the runtime.In this paper,we formulate the service placement problem in VEC to minimize the average response latency for all requested services along the slotted timeline.Specifically,the time slot spanned optimization problem is converted into per-slot optimization problems based on the Lyapunov optimization.Then a greedy heuristic is introduced to the drift-plus-penalty-based algorithm for seeking the approximate solution.The simulation results reveal its advantages over others in terms of optimal values and our strategy can satisfy the long-term energy constraint.

Heterogeneous Fault-Tolerant Aggregate Signcryption with Equality Test for Vehicular Sensor Networks

The vehicular sensor network (VSN) is an important part of intelligent transportation, which is used for real-timedetection and operation control of vehicles and real-time transmission of data and information. In the environmentofVSN, massive private data generated by vehicles are transmitted in open channels and used by other vehicle users,so it is crucial to maintain high transmission efficiency and high confidentiality of data. To deal with this problem, inthis paper, we propose a heterogeneous fault-tolerant aggregate signcryption scheme with an equality test (HFTASET).The scheme combines fault-tolerant and aggregate signcryption,whichnot onlymakes up for the deficiency oflow security of aggregate signature, but alsomakes up for the deficiency that aggregate signcryption cannot tolerateinvalid signature. The scheme supports one verification pass when all signcryptions are valid, and it supportsunbounded aggregation when the total number of signcryptions grows dynamically. In addition, this schemesupports heterogeneous equality test, and realizes the access control of private data in different cryptographicenvironments, so as to achieve flexibility in the application of our scheme and realize the function of quick searchof plaintext or ciphertext. Then, the security of HFTAS-ET is demonstrated by strict theoretical analysis. Finally, weconduct strict and standardized experimental operation and performance evaluation, which shows that the schemehas better performance.

A Blockchain-Assisted Distributed Edge Intelligence for Privacy-Preserving Vehicular Networks

The enormous volume of heterogeneous data fromvarious smart device-based applications has growingly increased a deeply interlaced cyber-physical system.In order to deliver smart cloud services that require low latency with strong computational processing capabilities,the Edge Intelligence System(EIS)idea is now being employed,which takes advantage of Artificial Intelligence(AI)and Edge Computing Technology(ECT).Thus,EIS presents a potential approach to enforcing future Intelligent Transportation Systems(ITS),particularly within a context of a Vehicular Network(VNets).However,the current EIS framework meets some issues and is conceivably vulnerable tomultiple adversarial attacks because the central aggregator server handles the entire systemorchestration.Hence,this paper introduces the concept of distributed edge intelligence,combining the advantages of Federated Learning(FL),Differential Privacy(DP),and blockchain to address the issues raised earlier.By performing decentralized data management and storing transactions in immutable distributed ledger networks,the blockchain-assisted FL method improves user privacy and boosts traffic prediction accuracy.Additionally,DP is utilized in defending the user’s private data from various threats and is given the authority to bolster the confidentiality of data-sharing transactions.Our model has been deployed in two strategies:First,DP-based FL to strengthen user privacy by masking the intermediate data during model uploading.Second,blockchain-based FL to effectively construct secure and decentralized traffic management in vehicular networks.The simulation results demonstrated that our framework yields several benefits for VNets privacy protection by forming a distributed EIS with privacy budget(ε)of 4.03,1.18,and 0.522,achieving model accuracy of 95.8%,93.78%,and 89.31%,respectively.

Visible Light Communication for Vehicular Applications: A Novel Architecture with Proof-of-Concept Prototype

When there is an increasing interest in visible light communication(VLC), outdoor vehicle VLC has emerged as a promising candidate technology for future intelligent transportation systems. However, in VLC based vehicular applications, several challenges impede successful commercial application of VLC based products. This article first provides a thorough overview of the existing challenges. To overcome these challenges, we propose a novel architecture with tracking and environment sensing ability for practical vehicular applications. Moreover, a proof-ofconcept prototype is implemented to validate the feasibility of the proposed system. Experimental and simulation results show that the proposed VLC system can provide reliable communications with a bit-error rate less than 10-4for vehicles under strong interference lights. Finally, based on the evaluations, we propose some key design issues for future studies in this research area.

Push-Based Content Dissemination and Machine Learning-Oriented Illusion Attack Detection in Vehicular Named Data Networking

Recent advancements in the Vehicular Ad-hoc Network(VANET)have tremendously addressed road-related challenges.Specifically,Named Data Networking(NDN)in VANET has emerged as a vital technology due to its outstanding features.However,the NDN communication framework fails to address two important issues.The current NDN employs a pull-based content retrieval network,which is inefficient in disseminating crucial content in Vehicular Named Data Networking(VNDN).Additionally,VNDN is vulnerable to illusion attackers due to the administrative-less network of autonomous vehicles.Although various solutions have been proposed for detecting vehicles’behavior,they inadequately addressed the challenges specific to VNDN.To deal with these two issues,we propose a novel push-based crucial content dissemination scheme that extends the scope of VNDN from pullbased content retrieval to a push-based content forwarding mechanism.In addition,we exploitMachine Learning(ML)techniques within VNDN to detect the behavior of vehicles and classify them as attackers or legitimate.We trained and tested our system on the publicly accessible dataset Vehicular Reference Misbehavior(VeReMi).We employed fiveML classification algorithms and constructed the bestmodel for illusion attack detection.Our results indicate that RandomForest(RF)achieved excellent accuracy in detecting all illusion attack types in VeReMi,with an accuracy rate of 100%for type 1 and type 2,96%for type 4 and type 16,and 95%for type 8.Thus,RF can effectively evaluate the behavior of vehicles and identify attacker vehicles with high accuracy.The ultimate goal of our research is to improve content exchange and secureVNDNfromattackers.Thus,ourML-based attack detection and preventionmechanismensures trustworthy content dissemination and prevents attacker vehicles from sharing misleading information in VNDN.

Cooperative Content Caching and Delivery in Vehicular Networks: A Deep Neural Network Approach

The growing demand for low delay vehicular content has put tremendous strain on the backbone network.As a promising alternative,cooperative content caching among different cache nodes can reduce content access delay.However,heterogeneous cache nodes have different communication modes and limited caching capacities.In addition,the high mobility of vehicles renders the more complicated caching environment.Therefore,performing efficient cooperative caching becomes a key issue.In this paper,we propose a cross-tier cooperative caching architecture for all contents,which allows the distributed cache nodes to cooperate.Then,we devise the communication link and content caching model to facilitate timely content delivery.Aiming at minimizing transmission delay and cache cost,an optimization problem is formulated.Furthermore,we use a multi-agent deep reinforcement learning(MADRL)approach to model the decision-making process for caching among heterogeneous cache nodes,where each agent interacts with the environment collectively,receives observations yet a common reward,and learns its own optimal policy.Extensive simulations validate that the MADRL approach can enhance hit ratio while reducing transmission delay and cache cost.

Joint computation offloading and resource allocation in vehicular edge computing networks

Vehicular Edge Computing(VEC)is a promising technique to accommodate the computation-intensive and delaysensitive tasks through offloading the tasks to the RoadSide-Unit(RSU)equipped with edge computing servers or neighboring vehicles.Nevertheless,the limited computation resources of edge computing servers and the mobility of vehicles make the offloading policy design very challenging.In this context,through considering the potential transmission gains brought by the mobility of vehicles,we propose an efficient computation offloading and resource allocation scheme in VEC networks with two kinds of offloading modes,i.e.,Vehicle to Vehicle(V2V)and Vehicle to RSU(V2R).We define a new cost function for vehicular users by incorporating the vehicles’offloading delay,energy consumption,and expenses with a differentiated pricing strategy,as well as the transmission gain.An optimization problem is formulated to minimize the average cost of all the task vehicles under the latency and computation capacity constraints.A distributed iterative algorithm is proposed by decoupling the problem into two subproblems for the offloading mode selection and the resource allocation.Matching theorybased and Lagrangian-based algorithms are proposed to solve the two subproblems,respectively.Simulation results show the proposed algorithm achieves low complexity and significantly improves the system performance compared with three benchmark schemes.