Incentivizing Cooperative Sensing Sharing Ecosystem for Connected and Autonomous Vehicles

Connected and Autonomous Vehicles (CAVs) increasingly leverage sophisticated sensor systems integrated with emerging technologies like the sixth generation (6G) for enhancing driving safety and efficiency. Despite the potential of utilizing the advanced communication technology to enhance driving reliability, conficts between high-quality sensing needs of CAVs and insufficient sensing sharing wellness present significant challenges. To bridge the gaps, this paper proposes a novel cooperative sensing sharing framework that utilizes vehicle-to-vehicle (V2V) communication to extend the effective sensory range of CAVs, thereby reducing perception gaps and enhancing driving efficiency in complex driving environments. Aiming at incentivizing cooperative sensing sharing ecosystem within this decentralized framework, we first introduce a multi-tier blockchain architecture that ensures secure and transparent data sharing among CAVs. Concurrently, a custom-designed efficient consensus algorithm is proposed to minimize the overhead while guaranteeing transaction throughput. To tackle issues related to trust and motivate long-term cooperative behavior, we introduce a supervision-oriented model that utilizes evolutionary game to formulate incentive mechanisms discouraging malicious participation and promoting honest, active engagement. Finally, theoretical analysis and extensive simulations demonstrate that our system not only ensures healthy sensing sharing performance but also maintains system security.