[English](README.md) | [中文](README.zh-cn.md) | [한국어](README.ko.md) | [日本語](README.ja.md)
A high-performance autonomous driving system
## Table of Contents
- [Introduction](#introduction)
- [Prerequisites](#prerequisites)
- [Quick Start](#quick-start)
- [Production Mode (Docker)](#production-mode-docker)
- [Copyright and License](#copyright-and-license)
- [Connect with Us](#connect-with-us)
---
## 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](https://fcn5tm1hmy9p.feishu.cn/wiki/J5ujwMD44iz6IlkD7etcFfrinZf?fromScene=spaceOverview) | [English]]
- Integration Document: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/WQVmwCVw6i93wOk68QRchUQMnwe?fromScene=spaceOverview) | [English]]
- Development Process: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/XdlSwmdLiiDXBdkuF9qcwKFun2d?fromScene=spaceOverview) | [English]]
- Tools Document: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/SQVtw66pCiJlOTkZBoCc4tzlnzg?fromScene=spaceOverview) | [English]]
- Product Manual: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/Y4WKw4oX4iCfQ8kmmabccgEUnhf?fromScene=spaceOverview) | [English]]
- Issues / FAQ: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/IS9Vw11zcir6u5k8xFIc3BXJnEf?fromScene=spaceOverview) | [English]]
- WEP Proposal: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/WSgLwkMOkir6aSkaJGWcYa5ZnJb?fromScene=spaceOverview) | [English]]
- Company Introduction: [[中文](https://fcn5tm1hmy9p.feishu.cn/wiki/Fp3WwaoZ9iUuw8kD6sgcEsERnSe?fromScene=spaceOverview) | [English]]
---
## Prerequisites
- **Machine:** Minimum 8-core CPU, 8GB RAM
- **GPU:** NVIDIA Turing GPU recommended for acceleration
- **Operating System:** Ubuntu 20.04 LTS
---
## 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.
```bash
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`:
```bash
# 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`:
```bash
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):
```bash
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_