The development of vehicle-road-cloud integration technology has enabled the possibility of realizing autonomous driving. Although open-road autonomous driving is still in the testing phase, in low-speed application scenarios, such as smart mines, the development of autonomous driving is being actively carried out. Vehicle-cloud collaboration, as a key component of vehicle-road-cloud integration technology, determines the capability boundaries of unmanned systems. However, the cloud-centered systems have restrictions in terms of network and computing resources. By shifting the focus from the cloud to the vehicle, the vehicle-centered vehicle-cloud integration system enhances the adaptability of autonomous driving in challenging environments.