Enhancing YOLOv5 for Autonomous Driving: Efficient Attention-Based Object Detection on Edge Devices

On-road vision-based systems rely on object detection to ensure vehicle safety and efficiency, making it an essential component of autonomous driving. Deep learning methods show high performance; however, they often require special hardware due to their large sizes and computational complexity, which makes real-time deployment on edge devices expensive. This study proposes lightweight object detection models based on the YOLOv5s architecture, known for its speed and accuracy. The models integrate advanced channel attention strategies, specifically the ECA module and SE attention blocks, to enhance feature selection while minimizing computational overhead. Four models were developed and trained on the KITTI dataset. The models were analyzed using key evaluation metrics to assess their effectiveness in real-time autonomous driving scenarios, including precision, recall, and mean average precision (mAP). BaseECAx2 emerged as the most efficient model for edge devices, achieving the lowest GFLOPs (13) and smallest model size (9.1 MB) without sacrificing performance. The BaseSE-ECA model demonstrated outstanding accuracy in vehicle detection, reaching a precision of 96.69% and an mAP of 98.4%, making it ideal for high-precision autonomous driving scenarios. We also assessed the models' robustness in more challenging environments by training and testing them on the BDD-100K dataset. While the models exhibited reduced performance in complex scenarios involving low-light conditions and motion blur, this evaluation highlights potential areas for improvement in challenging real-world driving conditions. This study bridges the gap between affordability and performance, presenting lightweight, cost-effective solutions for integration into real-time autonomous vehicle systems.