  To enlarge the perception range and reliability of individual autonomous
vehicles, cooperative perception has been received much attention. However,
considering the high volume of shared messages, limited bandwidth and
computation resources in vehicular networks become bottlenecks. In this paper,
we investigate how to balance the volume of shared messages and constrained
resources in fog-based vehicular networks. To this end, we first characterize
sum satisfaction of cooperative perception taking account of its
spatial-temporal value and latency performance. Next, the sensing block
message, communication resource block, and computation resource are jointly
allocated to maximize the sum satisfaction of cooperative perception, while
satisfying the maximum latency and sojourn time constraints of vehicles. Owing
to its non-convexity, we decouple the original problem into two separate
sub-problems and devise corresponding solutions. Simulation results demonstrate
that our proposed scheme can effectively boost the sum satisfaction of
cooperative perception compared with existing baselines.
