A Robust and Energy-Efficient Control Policy for Autonomous Vehicles with Auxiliary Tasks

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Abstract
We present a lightweight autonomous driving method that uses a low-cost camera, a simple end-to-end convolutional neural network architecture, and smoother driving techniques to achieve energy-efficient vehicle control. Instead of directly constructing a mapping from raw sensory input to the action, our network takes the frame-to-frame visual difference as one of the crucial inputs to produce control commands, including the steering angle and the speed value at each time step. This choice of input allows highlighting the most relevant parts on raw image pairs to decrease the unnecessary visual complexity caused by different road and weather conditions. Additionally, our network achieves the prediction of the vehicle’s upcoming control commands by incorporating a view synthesis component into the model. The view synthesis, as an auxiliary task, aims to infer a novel view for the future from the historical environment transformation cue. By combining both the current and upcoming control commands, our framework achieves driving smoothness, which is highly associated with energy efficiency. We perform experiments on benchmarks to evaluate the reliability under different driving conditions in terms of control accuracy. We deploy a mobile robot outdoors to evaluate the power consumption of different control policies. The quantitative results demonstrate that our method can achieve energy efficiency in the real world.
Funding Information
  • Natural Science Foundation of Zhejiang Province (LQ23F020023)

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