## 2 Vehicle-Road Intelligent Capability Allocation Model
### Vehicle-Road Cost Allocation Model  
Finally, a vehicle-road intelligent cost allocation model has been established, as shown in Figure 8. The model inputs are vehicle-road collaborative intelligent schemes that meet different levels of autonomous driving, based on a database of costs and power consumption of intelligent devices, combined with data on the average driving distance and duration of vehicles. This allows for the calculation of the per-mile shared cost of vehicle intelligent schemes over their lifecycle. Similarly, based on roadside intelligent schemes of different levels for different types of roads, their corresponding deployment costs and power consumption costs can be calculated. Combined with the service life of roadside intelligent infrastructure, the average annual cost of the roadside intelligent scheme over its lifecycle can be obtained. By integrating statistical data on the usage intensity of different types of roads in the city and forecast data on the penetration rate of intelligent vehicles, the effective service vehicle flow for different types of roads can be determined, which in turn allows for the calculation of the shared cost per kilometer per vehicle on the roadside. By combining the per-mile shared cost of vehicle intelligent schemes and the shared cost per kilometer per vehicle on the roadside, the rationality of deploying intelligent infrastructure under different road types and stages of intelligent vehicle penetration rates can be obtained from a comprehensive cost perspective. The costs and power consumption associated with the intelligent devices for autonomous driving at both the vehicle-side and roadside are detailed in Table 6[34]. The lifecycle of the vehicle-side intelligent device is aligned with the vehicle's lifecycle, which is set at 15 years [45]. Since roadside deployment is still in the early stages of pilot programs and lacks relevant standards and regulations, this study selects a service life of 7 years  
Figure 7: Vehicle-Road intelligent capability allocation scheme. for roadside intelligent infrastructure, meaning that after the service life is reached, the roadside intelligent infrastructure needs to be updated and redeployed. \begin{table}
\begin{tabular}{c c c c c} \hline \hline \multirow{2}{*}{Communication} & \multirow{2}{*}{Vehicle communication} & \multirow{2}{*}{**Classification**} & \multirow{2}{*}{**Cost (\(\eta\))**} & \multirow{2}{*}{**Power (W)**} \\ \cline{3-4}  & & 4G-LTE & 140 & 10 \\ \cline{3-4}  & & 5G-V2X OBU & 5250 & 20 \\ \cline{2-4}  & Roadside communication & \multirow{2}{*}{RSU} & \multirow{2}{*}{5000} & \multirow{2}{*}{10} \\ \hline \multirow{5}{*}{Perception} & \multirow{2}{*}{Camera} & 2-megapixel & 220 & 10 \\ \cline{3-4}  & & 8-megapixel & 625 & 15 \\ \cline{3-4}  & & 12-megapixel & 990 & 20 \\ \cline{3-4}  & \multirow{2}{*}{Millimeter-wave radar} & Short-focus & 510 & 5 \\ \cline{3-4}  & & long-focus & 940 & 12 \\ \cline{3-4}  & \multirow{2}{*}{LiDAR} & 128-line & 6250 & 40 \\ \cline{3-4}  & & 64-line & 3750 & 35 \\ \hline \multirow{3}{*}{Localization} & \multirow{2}{*}{High-precision localization} & Submeter-class & 2300 & 1 \\ \cline{3-4}  & & Decimeter-class & 7400 & 2 \\ \cline{3-4}  & & Centimeter-class & 13,500 & 4 \\ \hline \multirow{5}{*}{Computing} & \multirow{2}{*}{Vehicle central computing platform} & Low compute & 50/TOPs & 1/TOPs \\ \cline{3-4}  & & Middle compute & 25/TOPs & 1/TOPs \\ \cline{3-4}  & & High compute & 10/TOPs & 1/TOPs \\ \cline{3-4}  & Roadside MEC & High compute & 10/TOPs & 1/TOPs \\ \hline \multirow{5}{*}{Actuator} & \multirow{2}{*}{Steering system} & Electric-power-steering & 1500 & 40 \\ \cline{3-4}  & & Steering-by-wire & 3500 & 70 \\ \cline{3-4}  & \multirow{2}{*}{Braking system} & Electric-power-braking & 1200 & 50 \\ \cline{3-4}  & & Braking-by-wire & 2500 & 80 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Cost and power of intelligent configurations. Figure 8: Vehicle-road cost allocation model.