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ETSAuto

(★ 185)

🚚 ETSAuto is an Advanced driver Assistance System applied in Euro Truck Simulator 2, performing the functions of Lane Centering Control (LCC) and Auto Lane Change (ALC).

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Download Latest Version (.zip)

- - bug_report.md
  - custom.md
  - feature_request.md
- - logo_i.ico
- log.py
- BUILD.md
- BUILD_ch.md
- run.log
- - condition_launcher.py
  - hardware_condition.py
  - truck_condition.py
- - control_launcher.py
  - controller.py
- - perception_launcher.py
- - planner.py
  - planning_launcher.py
- - user_launcher.py
- - vJoySetup.exe
- png2icon.py
- pt2onnx.py
CODE_OF_CONDUCT.md
ETSAuto.bat
LICENCE
README.md
README_ch.md
requirements.txt

# Installation Guide

1. Get the code

git clone https://github.com/Lyric0620/ETSAuto

Downloads the entire project code from GitHub to your computer.

cd ETSAuto

Moves into the project folder you just downloaded.

2. Python

Easy Recommended

Prerequisites

Git Needed to download the project code from GitHub.
Python 3 On Windows, be sure to check 'Add Python to PATH' during installation.

pip install -r requirements.txt

Installs the Python libraries listed in requirements.txt (or similar).

python <실행할 파일명>.py # README에서 정확한 실행 파일명을 확인하세요

Runs the Python script (or module).

✅ If it runs without errors and prints output in the terminal, it worked.

// repository documentation

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</div>

<div align="center">

[简体中文](https://github.com/Yutong-gannis/ETSAuto/blob/v2.x/README_ch.md) | English

</div>

### Table of Contents
+ [Introduction](#introduction)
+ [Features](#features)
+ [Environment Setup](#environment-setup)
+ [Usage Instructions](#usage-instructions)
+ [Sponsorship](#sponsorship)
+ [Plans](#plans)
+ [References](#references)

## Introduction
ETSAuto 2 is an autonomous driving system for Euro Truck Simulator 2, which includes Lane Centering Control (LCC), Lane Change Assistance (ALC), and Forward Collision Warning (FCW) features. ETSAuto 2 is built in pure Python and runs on Windows system. It uses the ONNXRuntime for inference (also supports the TensorRT inference framework) and currently offers acceleration on Nvidia GPUs, with future support for AMD GPUs. In terms of perception, it achieves a response rate of less than 0.05ms and uses pure pursuit for vehicle control.

## Features
| Scenario   | Support | Description |
| ---        | ---     | ---         |
| Daytime    | ✓       | All features supported |
| Nighttime  | ✓       | Not recommended for high-speed lane changes |
| Highway    | ✓       | No longitudinal planning; deceleration required when exiting the highway |
| City Roads | ✓       | Intersection functionality disabled; no lane markings or curbs on both sides |
| Rural Roads| ✓       | No lane markings or curbs on both sides |

| Feature              | Support | Description       |
| ---                  | :---:   | ---               |
| Lane Centering Control (LCC) | ✓ | v < 80km/h  |
| Lane Change Assistance (ALC) | ✓ | 15km/h < v < 80km/h  |
| Forward Collision Warning (LCW) | ✓ |  |
| Adaptive Cruise Control (ACC)  | ✗ |  |

## Environment Setup
For environment setup, refer to [BUILD.md](https://github.com/Yutong-gannis/ETSAuto/blob/v2.x/docs/BUILD.md)

Considering compatibility with graphics cards, from version 2.0 onwards, ONNX Runtime will be mainly used for inference. Nvidia graphics cards are currently supported, and support for AMD graphics cards is planned. However, since there is no AMD graphics card available at the moment, developers are encouraged to attempt building on AMD graphics cards. The project still retains the interface for TensorRT inference to ensure necessary perception response rates. Due to reasons related to screen capture and vjoy control programs, the program currently supports only Windows. Developers are welcome to provide alternative solutions for these two codes on Linux systems.

## Usage Instructions
+ Program Entry

Double click `ETSAuto.bat` to open the program.

+ Key Instructions

To facilitate operation, keyboard controls are used for functionalities.

| Key      | Function  | Support | Description |
  | :---:    | :---:     | :---:   | ---         |
  | &darr;   | Manual    | ✓       |             |
  | &larr;   | Lateral   | ✓       |             |
  | &rarr;   | Navigation | ✓     |             |
  | &uarr;   | Assistance | ✓       |             |
  | num 0    | Straight  | ✓       | v < 80km/h  |
  | num 1    | Left Turn | ✗       |             |
  | num 3    | Right Turn| ✗       |             |
  | num 4    | Left Lane Change | ✓ | 15km/h < v < 80km/h  |
  | num 6    | Right Lane Change | ✓ | 15km/h < v < 80km/h |
  | ctrl+q   | Exit      | ✓       |             |

## Plans
- [x] LCC
- [x] ALC
- [x] LCW
- [ ] ACC
- [ ] AEB
- [ ] SAS
- [ ] TLR

## References
[pyvjoy](https://github.com/tidzo/pyvjoy)

[Bev-Lanedet](https://github.com/gigo-team/bev_lane_det)

[ets2-sdk-plugin](https://github.com/nlhans/ets2-sdk-plugin)