proto/schema

Apollo HD Map 的 Protocol Buffers 数据模型定义。所有 .proto 文件位于 public/proto/，由 proto/loader 在运行时加载。

概览

Proto 文件定义了 Apollo 高精地图中所有地图元素的数据结构，属于 apollo.hdmap 包（几何基础类型属于 apollo.common，拓扑图属于 apollo.routing）。

顶层入口是 map.proto 中的 Map 消息，它聚合了所有地图元素：

message Map {
  Header header = 1;
  repeated Crosswalk crosswalk = 2;
  repeated Junction junction = 3;
  repeated Lane lane = 4;
  repeated StopSign stop_sign = 5;
  repeated Signal signal = 6;
  repeated YieldSign yield = 7;
  repeated Overlap overlap = 8;
  repeated ClearArea clear_area = 9;
  repeated SpeedBump speed_bump = 10;
  repeated Road road = 11;
  repeated ParkingSpace parking_space = 12;
  repeated PNCJunction pnc_junction = 13;
  repeated RSU rsu = 14;
  repeated Area ad_area = 15;
  repeated BarrierGate barrier_gate = 16;
}

文件依赖关系

geometry.proto (apollo.common)
  └── map_geometry.proto
        ├── map_lane.proto
        ├── map_road.proto
        ├── map_junction.proto
        ├── map_signal.proto
        ├── map_stop_sign.proto
        ├── map_yield_sign.proto
        ├── map_crosswalk.proto
        ├── map_clear_area.proto
        ├── map_speed_bump.proto
        ├── map_parking_space.proto
        ├── map_pnc_junction.proto
        ├── map_area.proto
        ├── map_barrier_gate.proto
        ├── map_overlap.proto
        ├── map_speed_control.proto
        └── topo_graph.proto (apollo.routing)

map_id.proto ──────► 上述大部分文件
map_rsu.proto ─────► map_id.proto

map.proto ─────────► 聚合所有 map_*.proto

基础类型

geometry.proto

包：apollo.common

消息	说明	关键字段
PointENU	东-北-天坐标点	x, y, z
PointLLH	经纬高坐标点	lon, lat, height
Point2D	二维点	x, y
Point3D	三维点	x, y, z
Quaternion	四元数旋转	qx, qy, qz, qw
Polygon	二维多边形（逆时针）	repeated Point3D point

map_geometry.proto

包：apollo.hdmap — 导入 geometry.proto

消息	说明	关键字段
Polygon	多边形	repeated PointENU point
LineSegment	直线段	repeated PointENU point
CurveSegment	曲线段	oneof curve_type { LineSegment }, s, start_position, heading, length
Curve	由若干段组成的曲线	repeated CurveSegment segment

map_id.proto

包：apollo.hdmap

消息	说明	关键字段
Id	全局唯一标识	string id

车道与道路

map_lane.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息：

消息	说明
Lane	车道定义
LaneBoundary	车道边界线
LaneBoundaryType	边界线类型描述
LaneSampleAssociation	中心点到边界的宽度采样

Lane 关键字段：

字段	类型	说明
id	Id	车道标识
central_curve	Curve	中心线
left_boundary	LaneBoundary	左边界
right_boundary	LaneBoundary	右边界
length	double	车道长度
speed_limit	double	限速（m/s）
predecessor_id	repeated Id	前驱车道
successor_id	repeated Id	后继车道
junction_id	Id	所属路口
direction	LaneDirection	方向

枚举：

枚举	值
LaneBoundaryType.Type	UNKNOWN, DOTTED_YELLOW, DOTTED_WHITE, SOLID_YELLOW, SOLID_WHITE, DOUBLE_YELLOW, CURB
Lane.LaneType	NONE, CITY_DRIVING, BIKING, SIDEWALK, PARKING, SHOULDER, SHARED
Lane.LaneTurn	NO_TURN, LEFT_TURN, RIGHT_TURN, U_TURN
Lane.LaneDirection	FORWARD, BACKWARD, BIDIRECTION

map_road.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息：

消息	说明
Road	道路（包含若干 RoadSection）
RoadSection	道路截面（包含若干 Lane）
RoadBoundary	道路边界
BoundaryPolygon	边界多边形
BoundaryEdge	边界边
RoadROIBoundary	道路感兴趣区域边界

枚举：

枚举	值
BoundaryEdge.Type	UNKNOWN, NORMAL, LEFT_BOUNDARY, RIGHT_BOUNDARY
Road.Type	UNKNOWN, HIGHWAY, CITY_ROAD, PARK

路口

map_junction.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
Junction	路口	id, polygon, overlap_id, type

枚举：

枚举	值
Junction.Type	UNKNOWN, IN_ROAD, CROSS_ROAD, FORK_ROAD, MAIN_SIDE, DEAD_END

map_pnc_junction.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

PNC（Planning and Control）路口，用于自动驾驶规划。

消息	说明	关键字段
PNCJunction	PNC 路口	id, polygon, overlap_id, repeated passage_group
PassageGroup	通道组	id, repeated passage
Passage	通道	id, signal_id, yield_id, stop_sign_id, lane_id, type

枚举：

枚举	值
Passage.Type	UNKNOWN, ENTRANCE, EXIT

交通设施

map_signal.proto

包：apollo.hdmap — 导入 geometry.proto, map_geometry.proto, map_id.proto

消息	说明	关键字段
Signal	信号灯	id, boundary, repeated subsignal, overlap_id, type, repeated stop_line
Subsignal	子信号灯	id, type, location
SignInfo	信号标志信息	type

枚举：

枚举	值
Subsignal.Type	UNKNOWN, CIRCLE, ARROW_LEFT, ARROW_FORWARD, ARROW_RIGHT, ARROW_LEFT_AND_FORWARD, ARROW_RIGHT_AND_FORWARD, ARROW_U_TURN
Signal.Type	UNKNOWN, MIX_2_HORIZONTAL, MIX_2_VERTICAL, MIX_3_HORIZONTAL, MIX_3_VERTICAL, SINGLE
SignInfo.Type	None, NO_RIGHT_TURN_ON_RED

map_stop_sign.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
StopSign	停车标志	id, repeated stop_line, overlap_id, type

枚举：

枚举	值
StopSign.StopType	UNKNOWN, ONE_WAY, TWO_WAY, THREE_WAY, FOUR_WAY, ALL_WAY

map_yield_sign.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
YieldSign	让行标志	id, repeated stop_line, overlap_id

map_barrier_gate.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
BarrierGate	道闸	id, type, polygon, repeated stop_line, overlap_id

枚举：

枚举	值
BarrierGate.BarrierGateType	ROD, FENCE, ADVERTISING, TELESCOPIC, OTHER

道路标记与区域

map_crosswalk.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
Crosswalk	人行横道	id, polygon, overlap_id

map_clear_area.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
ClearArea	禁停区	id, overlap_id, polygon

map_speed_bump.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
SpeedBump	减速带	id, overlap_id, repeated position

map_parking_space.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
ParkingSpace	停车位	id, polygon, overlap_id, heading
ParkingLot	停车场	id, polygon, overlap_id

map_area.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

消息	说明	关键字段
Area	自定义区域	id, type, polygon, overlap_id, name

枚举：

枚举	值
Area.Type	Driveable, UnDriveable, Custom1, Custom2, Custom3

map_speed_control.proto

包：apollo.hdmap — 导入 map_geometry.proto

消息	说明	关键字段
SpeedControl	区域限速	name, polygon, speed_limit
SpeedControls	限速集合	repeated speed_control

重叠关系

map_overlap.proto

包：apollo.hdmap — 导入 map_geometry.proto, map_id.proto

Overlap 描述两个地图元素在空间上的重叠关系，是连接交通设施与车道的关键结构。

核心消息：

消息	说明
Overlap	重叠关系 — 包含 id, repeated ObjectOverlapInfo object, repeated RegionOverlapInfo region_overlap
ObjectOverlapInfo	对象重叠信息 — id + oneof overlap_info（见下表）
RegionOverlapInfo	区域重叠信息 — id, repeated polygon

ObjectOverlapInfo 可选类型：

类型	对应消息
车道	LaneOverlapInfo — start_s, end_s, is_merge, region_overlap_id
信号灯	SignalOverlapInfo
停车标志	StopSignOverlapInfo
人行横道	CrosswalkOverlapInfo — region_overlap_id
路口	JunctionOverlapInfo
让行标志	YieldOverlapInfo
禁停区	ClearAreaOverlapInfo
减速带	SpeedBumpOverlapInfo
停车位	ParkingSpaceOverlapInfo
PNC 路口	PNCJunctionOverlapInfo
RSU	RSUOverlapInfo
区域	AreaOverlapInfo
道闸	BarrierGateOverlapInfo

其他

map_rsu.proto

包：apollo.hdmap — 导入 map_id.proto

消息	说明	关键字段
RSU	路侧单元	id, junction_id, overlap_id

map.proto — Header

消息	说明	关键字段
Header	地图头信息	version, date, projection, district, vendor, 边界坐标等
Projection	投影设置	proj（PROJ.4 格式字符串）

拓扑图

topo_graph.proto

包：apollo.routing — 导入 map_geometry.proto

用于路径规划的拓扑图结构。

消息	说明	关键字段
Graph	拓扑图	hdmap_version, hdmap_district, repeated node, repeated edge
Node	拓扑节点	lane_id, length, cost, central_curve, is_virtual, road_id, left_out, right_out
Edge	拓扑边	from_lane_id, to_lane_id, cost, direction_type
CurveRange	曲线范围	start, end
CurvePoint	曲线上的点	s

枚举：

枚举	值
Edge.DirectionType	FORWARD, LEFT, RIGHT