Current end-to-end deep learning driving models have two problems: (1) Poor
 generalization ability of unobserved driving environment when diversity of train-
 ing driving dataset is limited (2) Lack of accident explanation ability when driving
 models don’t work as expected. To tackle these two problems, rooted on the be-
 lieve that knowledge of associated easy task is benificial for addressing difficult
 task, we proposed a new driving model which is composed of perception module
 for see and think and driving module for behave, and trained it with multi-task
 perception-related basic knowledge and driving knowledge stepwisely.  Specifi-
 cally segmentation map and depth map (pixel level understanding of images) were
 considered as what & where and how far knowledge for tackling easier driving-
 related perception problems before generating final control commands for difficult
 driving task. The results of experiments demonstrated the effectiveness of multi-
 task perception knowledge for better generalization and accident explanation abil-
 ity. With our method the average sucess rate of finishing most difficult navigation
 tasks in untrained city of CoRL test surpassed current benchmark method for 15
 percent in trained weather and 20 percent in untrained weathers.
we proposed a new self-driving model which is composed of perception module for see and think and driving module for behave to acquire better generalization  and accident explanation ability. Presents a multitask learning architecture for depth and segmentation map estimation and the driving prediction using a perception module and a driving decision module. A method for a modified end-to-end architecture that has better generalization and explanation ability, is more robust to a different testing setting, and has decoder output that can help with debugging the model. The authors present a multi-task convolutional neural network for end-to-end driving and provide evaluations with the CARLA open source simulator showing better generalization performance in new driving conditions than baselines