  To simultaneously enable multiple autonomous driving services on affordable
embedded systems, we designed and implemented {\pi}-Edge, a complete edge
computing framework for autonomous robots and vehicles. The contributions of
this paper are three-folds: first, we developed a runtime layer to fully
utilize the heterogeneous computing resources of low-power edge computing
systems; second, we developed an extremely lightweight operating system to
manage multiple autonomous driving services and their communications; third, we
developed an edge-cloud coordinator to dynamically offload tasks to the cloud
to optimize client system energy consumption. To the best of our knowledge,
this is the first complete edge computing system of a production autonomous
vehicle. In addition, we successfully implemented {\pi}-Edge on a Nvidia Jetson
and demonstrated that we could successfully support multiple autonomous driving
services with only 11 W of power consumption, and hence proving the
effectiveness of the proposed {\pi}-Edge system.
