ID	原文	译文
3413	边缘计算在自动驾驶的环境感知和数据处理方面有着极其重要的应用。	Edge computing plays an extremely important role in the environment perception and data processing of auto-nomous driving.
3414	自动驾驶汽车可以通过从边缘节点获得环境信息来扩大自身的感知范围，也可以向边缘节点卸载计算任务以解决计算资源不足的问题。	Autonomous driving vehicles can expand their perception scope by obtaining environmental informationfrom edge nodes, and can also deal with the problem of insufficient computing resources by offloading tasks to edge nodes.
3415	相比于云计算，边缘计算避免了长距离数据传输所导致的高时延，能给自动驾驶车辆提供更快速的响应，并且降低了主干网络的负载。	Compared with cloud computing, edge computing avoids high latency caused by long-distance data transmission,and provides autonomous driving vehicles with faster responses, and relieves the traffic load of the backbone network.
3416	基于此，首先介绍了基于边缘计算的自动驾驶汽车协同感知和任务卸载技术及相关挑战性问题，	Firstly, the edge computing-based cooperative perception and task offloading technologies for autonomous vehicles wereintroduced firstly, and related challenging issues were also proposed.
3417	然后对协同感知和任务卸载技术的研究现状进行了分析总结，	Then the state-of-the-art of cooperative perceptionand task offloading technologies were analyzed and summarized.
3418	最后讨论了该领域有待进一步研究的问题。	Finally, the problems need to be further studied in thisfield were discussed.
3419	针对现有联盟链共识机制因可拓展性不足，无法在支持大规模网络的同时满足低时延、高吞吐量和安全性的问题，采用网络分片的思想，提出一种适用于联盟链的带有监督节点的两级共识机制——RBFT。	The existing consensus mechanisms of consortium blockchain are not scalable enough to provide low latency,high throughput and security while supporting large-scale network. A new consensus mechanism called RBFT was pro-posed to improve scalability, which was a two-level consensus mechanism with supervised nodes based on the idea ofnetwork fragmentation.
3420	首先对网络节点进行分组，组内采用改进的 Raft 机制进行共识，然后由每个组内选出的领导者组成网络委员会，网络委员会内部采用 PBFT 机制进行共识。	In RBFT, the nodes were firstly divided into several groups. Each group adopted the improvedRaft mechanism to reach consensus and select leader. Then, the leaders of each group formed the network committee, andthe network committee adopted PBFT mechanism for consensus.
3421	研究结果表明，在大规模网络环境下，相比 PBFT 和 Raft，RBFT 在具备拜占庭容错能力的同时可以保证高共识效率，因而具有更高的扩展性。	Comparative experiments verify that RBFT can tolerantByzantine fault while ensuring high consensus efficiency in large-scale network compared with PBFT and Raft.
3422	针对现有的基于属性的身份认证方案均是基于单授权中心实现的，存在密钥托管问题，即密钥生成中心知道所有用户的私钥，提出了一种基于属性的多授权中心的身份认证方案。	Based on the problem that the existing attribute-based identification scheme is all based on one single authority,which has a key escrow problem, that is, the key generation center knows all users' private keys, an multi-authorityattribute-based identification scheme was proposed.