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Last Commit
Dec. 10, 2017
Jul. 4, 2016



ChosunTruck is an autonomous driving solution for Euro Truck Simulator 2. Recently, autonomous driving technology has become a big issue and as a result we have been studying technology that incorporates this. It is being developed in a simulated environment called Euro Truck Simulator 2 to allow us to study it using vehicles. We chose Euro Truck Simulator 2 because this simulator provides a good test environment that is similar to the real road.


  • You can drive a vehicle without handling it yourself.
  • You can understand the principles of autonomous driving.
  • (Experimental/Linux only) You can detect where other vehicles are.

How To Run It



  • OS: Windows 7, 10 (64bit)

  • IDE: Visual Studio 2013, 2015

  • OpenCV version: >= 3.1

  • Cuda Toolkit 7.5 (Note: Do an ADVANCED INSTALLATION. ONLY install the Toolkit + Integration to Visual Studio. Do NOT install the drivers + other stuff it would normally give you. Once installed, your project properties should look like this:

  • If you have a problem during installation, look at our Windows Installation wiki page

Required to allow input to work in Windows:

  • Go to C:\Users\YOURUSERNAME\Documents\Euro Truck Simulator 2\profiles and edit controls.sii from
config_lines[0]: "device keyboard `di8.keyboard`"
config_lines[1]: "device mouse `fusion.mouse`"


config_lines[0]: "device keyboard `sys.keyboard`"
config_lines[1]: "device mouse `sys.mouse`"

(thanks Komat!)

  • While you are in controls.sii, make sure your sensitivity is set to:
 config_lines[33]: "constant c_rsteersens 0.775000"
 config_lines[34]: "constant c_asteersens 4.650000"


  • Set controls.sii to read-only
  • Open the visual studio project and build it.
  • Run ETS2 in windowed mode and set resolution to 1024 * 768.(It will work properly with 1920 * 1080 screen resolution and 1024 * 768 window mode ETS2.)



Build the source code with the following command (inside the linux directory).


If you want the car detection function then:

make Drive


  • Run ETS2 in windowed mode and set its resolution to 1024 * 768. (It will work properly with 1920 * 1080 screen resolution and 1024 * 768 windowed mode ETS2)
  • It cannot find the ETS2 window automatically. Move the ETS2 window to the right-down corner to fix this.
  • In ETS2 Options, set controls to 'Keyboard + Mouse Steering', 'left click' to acclerate, and 'right click' to brake.
  • Go to a highway and set the truck's speed to 40~60km/h. (I recommend you turn on cruise mode to set the speed easily)
  • Run this program!

To enable car detection mode, add -D or --Car_Detection.

./ChosunTruck [-D|--Car_Detection]


See Our wiki page.

If you have some problems running this project, reference the demo video below. Or, open a issue to contact our team.

Demo Video

Lane Detection (Youtube link)

youtube link youtube link

Lane Detection + Vehicle Detection (Youtube link)

youtube link



How To Contribute

Anyone who is interested in this project is welcome! Just fork it and pull requests!


ChosunTruck, Euro Truck Simulator 2 auto driving solution Copyright (C) 2017 chi3236, bethesirius, uoyssim

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see