Table 2 Notations and descriptions

\(Q_{m,i}^k\)

The ith subtask belonging to task \(Q_{m}^k\)

\(d_{m,i}^k\)

The input data size of the ith subtask

\(c_{m,i}^k\)

The amount of computation resource required to complete subtask \(Q_{m,i}^k\)

\({\lambda _{k,e}}\)

The data transmission rate between vehicle k and RSU r

\({p_k}\)

The transmission power of vehicle k

\({\delta _{k,e}}\)

The channel gain between vehicle k and RSU r

w

The bandwidth of each sub-channel between vehicle k and RSU r

\({\sigma ^{ - 2}}\)

The surrounding noise power

\({t_{r,c}}\)

The round-trip time of transmission data between RSU r and the cloud server

\({f_k}\)

The computation capability of vehicle k