Proto / Schema

Apollo HD-map .proto sources live under src/proto/ in Apollo's upstream layout:

src/proto/
├── basic_msgs/geometry.proto                # PointENU / Polygon / Curve / LineSegment
├── editor/editor_meta.proto                 # editor-only metadata (Map.editor_meta = 1000)
└── map_msgs/
    ├── map.proto                            # top-level apollo.hdmap.Map
    ├── map_id.proto                         # Id wrapper
    ├── map_geometry.proto
    ├── map_lane.proto
    ├── map_road.proto
    ├── map_junction.proto
    ├── map_crosswalk.proto
    ├── map_signal.proto
    ├── map_stop_sign.proto
    ├── map_yield_sign.proto
    ├── map_speed_bump.proto
    ├── map_clear_area.proto
    ├── map_overlap.proto
    ├── map_parking_space.proto
    ├── map_pnc_junction.proto
    ├── map_rsu.proto
    ├── map_area.proto
    ├── map_barrier_gate.proto
    └── map_speed_control.proto

map.proto imports the rest and assembles the top-level apollo.hdmap.Map. loader.ts injects every file via Vite's ?raw glob, so the schema is fully bundled and runtime is offline.

Top-level fields

apollo.hdmap.Map field set (in the same order as entityBridge/map.ts's BRIDGES):

Proto field	`entityType`	Description
`header`	—	version + `projection.proj` + bbox
`crosswalk`	`crosswalk`	pedestrian crossing
`junction`	`junction`	road junction
`lane`	`lane`	drivable lane
`stop_sign`	`stopSign`	stop sign
`signal`	`signal`	traffic light
`yield`	`yieldSign`	yield sign
`overlap`	`overlap`	semantic overlap relation
`clear_area`	`clearArea`	keep-clear area
`speed_bump`	`speedBump`	speed bump
`road`	`road`	road + sections
`parking_space`	`parkingSpace`	parking spot
`pnc_junction`	`pncJunction`	planner-and-control junction view
`rsu`	`rsu`	roadside unit
`ad_area`	`area`	custom drivable / non-drivable area
`barrier_gate`	`barrierGate`	barrier gate
`editor_meta`	—	editor-only metadata (field 1000)

Shared submessages

basic_msgs/geometry.proto + map_msgs/map_geometry.proto:

PointENU { double x = 1; double y = 2; double z = 3; } — Apollo defaults to ENU metres; the editor converts to WGS84 lng/lat on import.
Polygon { repeated PointENU point = 1; }
LineSegment { repeated PointENU point = 1; }
CurveSegment { LineSegment line_segment; double s; PointENU start_position; double heading; double length; } — all scalars are proto2 optional; many real Apollo maps omit them.
Curve { repeated CurveSegment segment = 1; }

map_id.proto defines Id { string id = 1; }. The editor unwraps it everywhere internally.

entityBridge map

src/io/proto/entityBridge/ provides the bidirectional bridge between raw proto plain-objects and MapEntity. Sub-modules:

Sub-module	Entities
`common.ts`	`RawId / RawPoint / RawCurve / RawPolygon` + helpers
`enums.ts`	numeric ↔ string enum maps + INV reverse maps
`laneRoad.ts`	`LaneEntity`, `RoadEntity` + sections
`overlap.ts`	`OverlapEntity` + ObjectOverlapInfo / RegionOverlapInfo
`simpleEntities/basic.ts`	crosswalk / junction / clearArea / parkingSpace / stopSign / yieldSign / speedBump
`simpleEntities/misc.ts`	barrierGate / rsu / area
`simpleEntities/pncJunction.ts`	pncJunction + passages
`simpleEntities/signal.ts`	signal + subsignal + signInfo
`map.ts`	`apolloMapToEntities` / `entitiesToApolloMap` (entry)

Each entity sub-module exposes a symmetric pair of helpers: raw<Entity>ToEntity(raw): <Entity>Entity | null and entityToRaw<Entity>(entity): Raw<Entity>. See io/proto-entity-bridge for the detailed surface.

`editor_meta.proto`

proto

message EditorMeta {
  optional uint32 version = 1;
  map<string, EditorEntityMeta> entity = 2;
}
message EditorEntityMeta {
  optional EditorGeometryKind geometry_kind = 1;
}
enum EditorGeometryKind {
  EDITOR_GEOMETRY_KIND_UNSPECIFIED = 0;
  LINESTRING = 1;
  POLYGON = 2;
}

The Apollo runtime does not parse this field but proto2's "preserve unknown fields" semantics keep it on round-trip, so the same .bin serves both production Apollo and Apollo Map Studio.

Contributors

kent

Changelog

Last edited 4 minutes ago

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Proto / Schema ​

Top-level fields ​

Shared submessages ​

entityBridge map ​

editor_meta.proto ​

See also ​