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A high-performance autonomous driving system

Table of Contents

• Introduction
• Prerequisites
• Quick Start
• Production Mode (Docker)
• Copyright and License
• Connect with Us

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Introduction

Apollo-Lite provides powerful modules and features for autonomous driving development. Before getting started, please ensure your environment meets the prerequisites and follow the installation instructions below.

For a deeper understanding, refer to the following documents:

• Design Document: [中文 | [English]]
• Integration Document: [中文 | [English]]
• Development Process: [中文 | [English]]
• Tools Document: [中文 | [English]]
• Product Manual: [中文 | [English]]
• Issues / FAQ: [中文 | [English]]
• WEP Proposal: [中文 | [English]]
• Company Introduction: [中文 | [English]]

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Prerequisites

• Machine: Minimum 8-core CPU, 8GB RAM
• GPU: NVIDIA Turing GPU recommended for acceleration
• Operating System: Ubuntu 20.04 LTS

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Host setup and container startup (quick guide)

Purpose

• Ensure host is prepared (Docker, NVIDIA runtime, OS tuning) and provide a simple workflow to start the Apollo container using the whl helper.

Summary (recommended flow)

1. Run the host setup script (interactive): installs Docker, NVIDIA toolkit and then runs system configuration steps interactively.

sudo bash docker/setup_host/setup_host.sh

• setup_host.sh will install whl (system command linked at /usr/local/bin/whl) before running system configuration.
• After completing, the installer writes /etc/wheelos_setup_host.done to indicate host readiness.

2. Start or enter the container with whl:

# start in dev mode
whl start

# enter the dev container (starts it if needed)
whl enter

Notes about interactive system configuration

• config_system.sh (invoked by setup_host.sh) is interactive: for each optional system tuning step (NTP/ptp/udev/uvcvideo/CAN/Jetson tuning/headless/autostart) it will ask you whether to apply it (Y/n). Hardware-related tuning defaults to conservative choices.

Automation / non-interactive runs

• config_system.sh and setup_host.sh detect non-interactive stdin and use sensible defaults. To run unattended and accept defaults, redirect stdin from /dev/null:

sudo bash docker/setup_host/setup_host.sh < /dev/null

• If you need to fully automate and explicitly choose Yes/No for every prompt, use an automation tool or supply answers via stdin (careful: using yes will force all answers to y). Example (force yes for all prompts):

yes | sudo bash docker/setup_host/setup_host.sh

Environment and files

• User-maintained overrides live in the project-root .env.global.
• Use mode-scoped keys such as DEV_USE_GPU, DEV_BAZEL_CACHE_DIR, TEST_SERVER_PORT, TEST_CPUS, TEST_MEMORY, TEST_USE_GPU, and TEST_BAZEL_CACHE_DIR so dev and test stay isolated and explicit.
• Generated env files used by whl are docker/.env.dev.local, docker/.env.test.local, and docker/.env.prod.local. whl regenerates the requested mode file on every run from .env.global plus host auto-detection before launching.
• Each mode also gets its own Compose project name, so dev and test can run side by side without recreating or stopping each other.
• Container names are deterministic (apollo_<mode>_<user>_<project-hash>) and are intentionally not user-configurable.
• whl start <mode> and whl stop <mode> are symmetric. Use whl stop all to tear down all managed modes.
• Host-ready marker: /etc/wheelos_setup_host.done
• whl helper location: /usr/local/bin/whl

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Copyright and License

Apollo-Lite is licensed under the Apache License 2.0. Please comply with the license terms when using or contributing to this project.

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Connect with Us

• ⭐ Star and Fork to support the project!
• 💬 Join our community discussion group to chat with developers.
• 📧 For collaboration or business inquiries, contact: daohu527@gmail.com

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Thank you for being part of Apollo-Lite's journey towards autonomous driving innovation!