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[Yutong-gannis]

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[eiyooooo]

建议最高时速可以由用户通过键盘控制

[Yutong-gannis]

@eiyooooo 现在车道线保持的最高时速只能到75km/s，大于75km/s后卡车会开始摆动

[eiyooooo]

ETSAuto/Condition/truck_condition.py

Line 25 in ce4a9a6

self.ld = 20 # 预瞄距离

这个改大一点可以减少摆动

还有这个没改过来

ETSAuto/User/user_launcher.py

Line 49 in ce4a9a6

logo = Image.open(r"D:\ETSAuto4.0/Assets/logo/300x300/logo1.png").resize((360, 360))

[Yutong-gannis]

ETSAuto/Condition/truck_condition.py

Line 25 in ce4a9a6

self.ld = 20 # 预瞄距离

这个改大一点可以减少摆动
还有这个没改过来

ETSAuto/User/user_launcher.py

Line 49 in ce4a9a6

logo = Image.open(r"D:\ETSAuto4.0/Assets/logo/300x300/logo1.png").resize((360, 360))

好的，ld你改过吗，改成多少

[eiyooooo]

破案了，摆动是因为车速和一个参数不关联
ld不用改
Truck里面的update函数少了行self.ld = 1.0 * self.speed + self.lf
然后将lf改为3self.lf = 3 # 预瞄距离补偿
效果好多了

[eiyooooo]

lf需要再调一调，3~4之间

[eiyooooo]

lf需要再调一调，3~4之间

lf调3.63不错

[Shzzzz]

大佬，麻烦问下目标检测模块和车道线检测模块是怎么训练的呢，训练后的结果如何？

[eiyooooo]

你好，请问一下之前的yolov5模型是怎么训练的？

[Yutong-gannis]

@eiyooooo 我训练的yolov8，方法应该是一样的。用的bdd100k数据集，先转换成yolo格式，写好yaml配置文件就可以开始训练了

[eiyooooo]

我是说之前v1那个版本的yolov5🤪

[Yutong-gannis]

@eiyooooo V1用的yolov6，也是一样的步骤。yolo几个版本都是一样的，转换数据集然后写配置文件

[eiyooooo]

好的，谢谢

[Shzzzz]

大佬麻烦问下，我这个按照read.me弄完，打开ETSAuto.bat文件，怎么是这样呢？

[Yutong-gannis]

游戏画面不能遮挡住

[Yutong-gannis]

关于sdk是否工作正常，你可以加速卡车，看UI上的速度显示是否会改变

[Shzzzz]

运行perception_launcher.py报错：
onnxruntime.capi.onnxruntime_pybind11_state.NoSuchFile: [ONNXRuntimeError] : 3 : NO_SUCHFILE : Load model from E:\SteamLibrary\steamapps\common\Euro Truck Simulator 2\ETSAuto-2.2.1\weights\bevlanedet\resnet18_0.5_v2\ep049.onnx failed:Load model E:\SteamLibrary\steamapps\common\Euro Truck Simulator 2\ETSAuto-2.2.1\weights\bevlanedet\resnet18_0.5_v2\ep049.onnx failed. File doesn't exist

[Shzzzz]

我已经把两个权重文件放入了weights文件夹

[Yutong-gannis]

你把相应文件这里改成这样

ETSAuto/Selfdrive/Perception/perception_launcher.py

Lines 26 to 27 in 2f10001

	lane_path = os.path.abspath(os.path.join(project_path, '../weights/bevlanedet.onnx'))
	yolo_path = os.path.abspath(os.path.join(project_path, '../weights/yolov8n.onnx'))

[Shzzzz]

大佬，我准备用下你的1.1版本，但是里面的环境感知pt权重文件那个链接失效了，还有这个文件吗？

[Shzzzz]

麻烦问下，您当时放在b站视频上跑的那个版本方便发我一份吗。我有点想学习一些怎么实现那个窗口检测的功能。

[Yutong-gannis]

可以直接在release v1.1上修改

把这个注释拉开

ETSAuto/script/main.py

Lines 151 to 156 in c1465fc

	'''
	if traffic_light == None:
	im1, bev_lanes = clrnet.forward(cv2.resize(img, (1280, 720)), im1, CAM) # 传入RGB图像
	else:
	bev_lanes = []
	'''

这行代码注释掉

ETSAuto/script/main.py

Lines 181 to 182 in c1465fc

	# 车辆前向物体检测线(暂时替代车道线)
	bev_lanes.extend(FCW(nav_line, speed))

只是之前有朋友反应车道线权重有问题，就把车道线相关的功能关掉了，你先试试

[Yutong-gannis]

branch的v1.1也是可以的，如果车道线检测不能用，你只能参考这个仓库自己转pt权重了
https://github.com/xuanandsix/CLRNet-onnxruntime-and-tensorrt-demo

[Shzzzz]

跑了一小会，就出问题终止程序了

[Yutong-gannis]

对应函数照这样修改

ETSAuto/Planning/FSMPlaning.py

Lines 39 to 82 in 2883ed3

	def update_infor(self, obstacles, lanes): # 更新基础条件
	self.obstacles = obstacles
	self.ego_lane_infor = 0
	self.near_car_infor = [0, 0]
	for lane in lanes:
	if lane.position_type_ego == -1:
	detect_range = lane.startpoint[1]
	# if lane.position_type == -2:
	# self.near_lane_infor[0] == 1
	# elif lane.position_type == 2:
	# self.near_lane_infor[1] == 1
	for obstacle in self.obstacles: # 更新周围汽车信息
	#if obstacle.lane == 0 and obstacle.position[1] + obstacle.position[3] >= detect_range:
	if obstacle.lane == 0:
	self.ego_lane_infor = 1
	if self.state_now == 'Follow':
	if 13 < time.time() - self.t < 45:
	self.t_sheld = 1
	elif time.time() - self.t >= 45:
	self.t_sheld = 0
	if obstacle.speed[1] <= -1:
	self.speed_infor = 1
	elif obstacle.speed[1] >= -1:
	self.speed_infor = 0
	elif obstacle.lane == -1 and obstacle.position[1] + obstacle.position[3] >= 420:
	self.near_car_infor[0] = 1
	elif obstacle.lane == 1 and obstacle.position[1] + obstacle.position[3] >= 420:
	self.near_car_infor[1] = 1
	#elif obstacle.lane == 1 and obstacle.position[1] + obstacle.position[3] >= detect_range:
	elif obstacle.lane == 1:
	if self.change_lane_state == 2 or self.change_lane_state == 3:
	self.near_car_infor[1] = 1
	if self.state_now == 'Passing' and self.change_lane_state == 2 and self.near_car_infor[1] == 0:
	self.t = time.time()
	self.change_lane_state = 3
	if self.state_now == 'Passing' and self.change_lane_state == 3 and self.near_car_infor[1] == 1:
	self.change_lane_state = 2

[Shzzzz]

刚刚测试了一下2.2.1版本，好像车辆自动驾驶的时候，如果导航路线有直角的转弯的地方，转不过去，他会走直线。

[Yutong-gannis]

目前版本只提供了车道保持和辅助变道控制。因为之前版本的导航线路的获取尺度有问题，所以还没有用到导航信息

[eiyooooo]

有没有考虑尝试一下用YOLOP呢😁

[Yutong-gannis]

我尝试过HybridNets，原论文的单类别检测效果可以，但是多类别检测时效果并不理想，并且车道线分割的范围也比较有限

[IDisNotDefined]

大佬，麻烦问一下我跑你的2.2.1版本，为什么车辆可以自动往前走，但是识别不出来其他车辆和道路？

[Yutong-gannis]

包冲突一般会报错的，我的numpy是1.24，其它的包都不太看版本。目前可以正常控制吗。
你可以先把这里的line_l打印一下，看看是否有值

ETSAuto/Selfdrive/Perception/LaneDetection/lanedetector.py

Line 216 in 99a4a5a

lane_dict_pub['line_l'] = line_l

[IDisNotDefined]

大佬还想问一下，sdk是必须放在win_x86下吗，我放在x86下打开游戏不报警告，放在x64下才有警告。想问下sdk的放置位置是会影响读取数据吗

[Yutong-gannis]

你可以看一下log里的condition数据是否正常

[IDisNotDefined]

大佬请问log在哪看呀 我用的2.2.1版本 没找到日志。以及我运行的时候打开的五个窗口有的有报错
EOFError: D:\ETSAuto-2.2.1\Selfdrive\Message/temp/option.pkl
lost trajectory data
lost trajectory data
lost trajectory data
lost trajectory data
lost trajectory data
lost trajectory data 请问这可能是什么原因造成的啊

[Yutong-gannis]

log应该保存在log文件夹下，这种情况可能是没检测出车道线，也可能perception没有在工作

[IDisNotDefined]

大佬我换了2.2.2的版本去运行，但速度检测一直是0，查日志没有报错但检测到的速度也是0，该怎么解决呀

2024-02-05 12:19:32.678 | ConditionData | hardware_condition:update:68 - Hardware Condition:
cpu_freq_current: 1000.0 cpu_usage: 0.075
mem_free: 98.94608306884766 mem_used: 28.713882446289062 mem_percentage: 0.225
gpu_load: 0.39 gpu_mem_free: 8530.0 gpu_mem_used: 2510.0 gpu_temp: 36.0
2024-02-05 12:19:32.681 | ConditionInfo | hardware_condition:update:75 - Condition update finish.
2024-02-05 12:19:32.683 | ConditionInfo | hardware_condition:publish:87 - Hardware condition publish finish.
2024-02-05 12:19:32.684 | ConditionInfo | main:run:47 - Loop time: 0.09099268913269043
2024-02-05 12:19:32.685 | ConditionData | truck_condition:update:44 - Truck condition:
x: 0 y: 0 theta: 0.0 dx: 0.0 dy: 0.0 dtheta: 0.0 ang: 0 acc: [0.0, 0.0]
wheelbase: 8.0 ld: 20 lf: 3.63 speed: 0.0 speedlimit: 0.0 overspeed:False dt:0.04
2024-02-05 12:19:32.686 | ConditionInfo | truck_condition:update:49 - Condition update finish.
2024-02-05 12:19:32.689 | ConditionInfo | truck_condition:publish:70 - Truck condition publish finish.