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High-definition map (HD Map) for autonomous driving brings huge pressure on networks due to its bandwidth-greedy, computing-intensive, and latency-sensitive characteristics. Data collection, transmission, and processing for HD Map update should cooperate to meet these requirements. In this paper, crowd-sensing which exploits the sensing ability of autonomous vehicles is adopted for real-time data collection. Vehicular distributed computing is adopted to improve the computing capability and reduce the transmission of massive raw environmental data. And a crowd-sensing assisted vehicular distributed computing (CS-VDC) mechanism is proposed based on the convergence of sensing, communication, and computation. In addition, considering the differences in sensing range and computing capability of different vehicles, the selection of crowd-sensing nodes and task allocation are jointly optimized to further …