  In this work, we propose the use of hybrid offloading of computing tasks
simultaneously to edge servers (vertical offloading) via LTE communication and
to nearby cars (horizontal offloading) via V2V communication, in order to
increase the rate at which tasks are processed compared to local processing.
Our main contribution is an optimized resource assignment and scheduling
framework for hybrid offloading of computing tasks. The framework optimally
utilizes the computational resources in the edge and in the micro cloud, while
taking into account communication constraints and task requirements. While
cooperative perception is the primary use case of our framework, the framework
is applicable to other cooperative vehicular applications with high computing
demand and significant transmission overhead. The framework is tested in a
simulated environment built on top of car traces and communication rates
exported from the Veins vehicular networking simulator. We observe a
significant increase in the processing rate of cooperative perception sensor
frames when hybrid offloading with optimized resource assignment is adopted.
Furthermore, the processing rate increases with V2V connectivity as more
computing tasks can be offloaded horizontally.
