Bandwidth Allocation for Cloud-Augmented Autonomous Driving

Autonomous vehicle (AV) control systems increasingly rely on ML models for tasks such as perception and planning. Current practice is to run these models on the car's local hardware due to real-time latency constraints and reliability concerns, which limits model size and thus accuracy. Prior work has observed that we could augment current systems by running larger models in the cloud, relying on faster cloud runtimes to offset the cellular network latency. However, prior work does not account for an important practical constraint: limited cellular bandwidth. We show that, for typical bandwidth levels, proposed techniques for cloud-augmented AV models take too long to transfer data, thus mostly falling back to the on-car models and resulting in no accuracy improvement.