Apollo Map Studio

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Proto Schema ​

本页是 src/proto/ 下所有 .proto 文件的「单页速查」。Apollo Map Studio 通过 protobufjs 在运行时加载这些 .proto 原文（不预编译为 .ts），所以 它们既是 wire 真相，也是 TS 类型层的设计依据。

阅读指引

  • 字段编号严格保留：proto2 的「unknown 字段保留」依赖编号稳定。
  • optional 与 required 严格区分：见 Apollo Types 中的 proto2 optional 守则。
  • 编辑器自定义字段位于 editor/editor_meta.proto，挂在 Map.editor_meta 字段号 1000。

文件清单 ​

路径顶层 message行数主要内容
basic_msgs/geometry.protoPointENU, Polygon 等62Apollo 通用几何点 / 多边形
map_msgs/map_id.protoId8通用 ID 包装
map_msgs/map_geometry.protoPolygon, Curve31地图几何（Polygon、LineSegment、CurveSegment、Curve）
map_msgs/map_lane.protoLane110车道、车道边界、车道枚举
map_msgs/map_junction.protoJunction24路口及其类型
map_msgs/map_road.protoRoad64道路、Section、RoadBoundary
map_msgs/map_overlap.protoOverlap77Overlap 图、Region overlap
map_msgs/map_signal.protoSignal57信号灯、Subsignal、SignInfo
map_msgs/map_crosswalk.protoCrosswalk15人行横道
map_msgs/map_stop_sign.protoStopSign26停车牌
map_msgs/map_yield_sign.protoYieldSign18让行牌
map_msgs/map_clear_area.protoClearArea14禁停区
map_msgs/map_speed_bump.protoSpeedBump12减速带
map_msgs/map_speed_control.protoSpeedControl19速度控制（旁路文件）
map_msgs/map_parking_space.protoParkingSpace, ParkingLot26停车位 / 停车场
map_msgs/map_pnc_junction.protoPNCJunction38PNC 路口及其 passage group
map_msgs/map_barrier_gate.protoBarrierGate21道闸
map_msgs/map_rsu.protoRSU11路侧单元
map_msgs/map_area.protoArea22通用区域元素
map_msgs/map.protoMap, Header, Projection68顶层地图容器
editor/editor_meta.protoEditorMeta, EntityMeta38编辑器自定义元数据

上表来自仓库实际 wc -l 输出，下文按文件依次展开 message。

basic_msgs/geometry.proto ​

package apollo.common。Apollo 通用几何基础类型。

proto
message PointENU {
  optional double x = 1 [default = nan];  // East from the origin, in meters.
  optional double y = 2 [default = nan];  // North from the origin, in meters.
  optional double z = 3 [default = 0.0];  // Up from the WGS-84 ellipsoid, in meters.
}
Message用途关键字段
PointENUENU 三维点x(1), y(2), z(3, default 0.0)
PointLLHWGS84 经纬高点lon, lat, height
Point2D通用 2D 点x(1), y(2)
Point3D通用 3D 点x(1), y(2), z(3)
Quaternion四元数qx, qy, qz, qw
Polygon通用多边形（counter clockwise）repeated Point3D point = 1

Apollo 中常见 NaN

PointENU.x / y 默认值是 nan。protobufjs round-trip 时若 TS 写入 0， 会被反序列化端识别为「主动设置 0」，与原始空值语义不同。务必保留 undefined。

map_msgs/map_id.proto ​

package apollo.hdmap。

proto
message Id {
  optional string id = 1;
}

所有元素 ID 字段都使用这个包装类型。

map_msgs/map_geometry.proto ​

package apollo.hdmap。

proto
message Polygon { repeated apollo.common.PointENU point = 1; }
message LineSegment { repeated apollo.common.PointENU point = 1; }
message CurveSegment {
  oneof curve_type { LineSegment line_segment = 1; }
  optional double s = 6;
  optional apollo.common.PointENU start_position = 7;
  optional double heading = 8;
  optional double length = 9;
}
message Curve { repeated CurveSegment segment = 1; }

要点：

  • CurveSegment.curve_type 是 oneof，目前只实现了 line_segment，预留 arc / spiral。
  • 字段 6/7/8/9 均为 proto2 optional，不要默认填 0。
  • Curve 是 lane / signal / road 等所有「线状几何」的复用积木。

map_msgs/map_lane.proto ​

package apollo.hdmap。本项目核心 message。

LaneBoundaryType ​

proto
message LaneBoundaryType {
  enum Type { UNKNOWN = 0; DOTTED_YELLOW = 1; DOTTED_WHITE = 2;
              SOLID_YELLOW = 3; SOLID_WHITE = 4; DOUBLE_YELLOW = 5; CURB = 6; }
  optional double s = 1;
  repeated Type types = 2;
}

LaneBoundary ​

proto
message LaneBoundary {
  optional Curve curve = 1;
  optional double length = 2;
  optional bool virtual = 3;
  repeated LaneBoundaryType boundary_type = 4;
}

LaneSampleAssociation ​

proto
message LaneSampleAssociation {
  optional double s = 1;
  optional double width = 2;
}

Lane（顶层） ​

字段编号类型备注
id1Id全局唯一 ID
central_curve2Curve中心参考线
left_boundary3LaneBoundary左边界
right_boundary4LaneBoundary右边界
length5double米
speed_limit6doublem/s
overlap_id7repeated Id关联 overlap
predecessor_id8repeated Id来车道
successor_id9repeated Id去车道
left_neighbor_forward_lane_id10repeated Id左同向邻车道
right_neighbor_forward_lane_id11repeated Id右同向邻车道
type12LaneTypeNONE / CITY_DRIVING / BIKING / SIDEWALK / PARKING / SHOULDER / SHARED
turn13LaneTurnNO_TURN / LEFT_TURN / RIGHT_TURN / U_TURN
left_neighbor_reverse_lane_id14repeated Id左反向邻车道
right_neighbor_reverse_lane_id15repeated Id右反向邻车道
junction_id16Id所属 junction
left_sample17repeated LaneSampleAssociation左侧宽度采样
right_sample18repeated LaneSampleAssociation右侧宽度采样
direction19LaneDirectionFORWARD / BACKWARD / BIDIRECTION
left_road_sample20repeated LaneSampleAssociation至左 road 边界距离
right_road_sample21repeated LaneSampleAssociation至右 road 边界距离
self_reverse_lane_id22repeated Id自反向车道

map_msgs/map_junction.proto ​

proto
message Junction {
  optional Id id = 1;
  optional Polygon polygon = 2;
  repeated Id overlap_id = 3;
  enum Type { UNKNOWN = 0; IN_ROAD = 1; CROSS_ROAD = 2; FORK_ROAD = 3; MAIN_SIDE = 4; DEAD_END = 5; }
  optional Type type = 4;
}

map_msgs/map_road.proto ​

proto
message BoundaryEdge {
  optional Curve curve = 1;
  enum Type { UNKNOWN = 0; NORMAL = 1; LEFT_BOUNDARY = 2; RIGHT_BOUNDARY = 3; }
  optional Type type = 2;
}
message BoundaryPolygon { repeated BoundaryEdge edge = 1; }
message RoadBoundary {
  optional BoundaryPolygon outer_polygon = 1;
  repeated BoundaryPolygon hole = 2;
}
message RoadSection {
  optional Id id = 1;
  repeated Id lane_id = 2;
  optional RoadBoundary boundary = 3;
}
message Road {
  optional Id id = 1;
  repeated RoadSection section = 2;
  optional Id junction_id = 3;
  enum Type { UNKNOWN = 0; HIGHWAY = 1; CITY_ROAD = 2; PARK = 3; }
  optional Type type = 4;
}

map_msgs/map_overlap.proto ​

Overlap 把任意两类元素（lane / signal / junction / crosswalk / ...）的关系 统一抽象成一组 ObjectOverlapInfo。oneof overlap_info 按对象类型分支。

proto
message LaneOverlapInfo {
  optional double start_s = 1;
  optional double end_s = 2;
  optional bool is_merge = 3;
  optional Id region_overlap_id = 4;
}
message ObjectOverlapInfo {
  optional Id id = 1;
  oneof overlap_info {
    LaneOverlapInfo lane_overlap_info = 3;
    SignalOverlapInfo signal_overlap_info = 4;
    StopSignOverlapInfo stop_sign_overlap_info = 5;
    CrosswalkOverlapInfo crosswalk_overlap_info = 6;
    JunctionOverlapInfo junction_overlap_info = 7;
    YieldOverlapInfo yield_sign_overlap_info = 8;
    ClearAreaOverlapInfo clear_area_overlap_info = 9;
    SpeedBumpOverlapInfo speed_bump_overlap_info = 10;
    ParkingSpaceOverlapInfo parking_space_overlap_info = 11;
    PNCJunctionOverlapInfo pnc_junction_overlap_info = 12;
    RSUOverlapInfo rsu_overlap_info = 13;
    AreaOverlapInfo area_overlap_info = 14;
    BarrierGateOverlapInfo barrier_gate_overlap_info = 15;
  }
}
message Overlap {
  optional Id id = 1;
  repeated ObjectOverlapInfo object = 2;
  repeated RegionOverlapInfo region_overlap = 3;
}

Apollo 真实地图中允许 oneof 不设置

某些 lane↔crosswalk overlap 在源数据里没有写 overlap_info，bridge 端 通过 unknown 变体 pass-through，避免 round-trip 丢失数据。详见 Apollo Types 中的 ObjectOverlapInfo 联合。

map_msgs/map_signal.proto ​

proto
message Subsignal {
  enum Type { UNKNOWN=1; CIRCLE=2; ARROW_LEFT=3; ARROW_FORWARD=4;
              ARROW_RIGHT=5; ARROW_LEFT_AND_FORWARD=6;
              ARROW_RIGHT_AND_FORWARD=7; ARROW_U_TURN=8; }
  optional Id id = 1;
  optional Type type = 2;
  optional apollo.common.PointENU location = 3;  // 真实地图基本不写
}
message SignInfo {
  enum Type { None = 0; NO_RIGHT_TURN_ON_RED = 1; }
  optional Type type = 1;
}
message Signal {
  enum Type { UNKNOWN=1; MIX_2_HORIZONTAL=2; MIX_2_VERTICAL=3;
              MIX_3_HORIZONTAL=4; MIX_3_VERTICAL=5; SINGLE=6; }
  optional Id id = 1;
  optional Polygon boundary = 2;
  repeated Subsignal subsignal = 3;
  repeated Id overlap_id = 4;
  optional Type type = 5;
  repeated Curve stop_line = 6;
  repeated SignInfo sign_info = 7;
}

map_msgs/map_crosswalk.proto ​

proto
message Crosswalk {
  optional Id id = 1;
  optional Polygon polygon = 2;
  repeated Id overlap_id = 3;
}

map_msgs/map_stop_sign.proto ​

proto
message StopSign {
  optional Id id = 1;
  repeated Curve stop_line = 2;
  repeated Id overlap_id = 3;
  enum StopType { UNKNOWN = 0; ONE_WAY = 1; TWO_WAY = 2;
                  THREE_WAY = 3; FOUR_WAY = 4; ALL_WAY = 5; }
  optional StopType type = 4;
}

map_msgs/map_yield_sign.proto ​

proto
message YieldSign {
  optional Id id = 1;
  repeated Curve stop_line = 2;
  repeated Id overlap_id = 3;
}

map_msgs/map_clear_area.proto ​

proto
message ClearArea {
  optional Id id = 1;
  repeated Id overlap_id = 2;
  optional Polygon polygon = 3;
}

map_msgs/map_speed_bump.proto ​

proto
message SpeedBump {
  optional Id id = 1;
  repeated Id overlap_id = 2;
  repeated Curve position = 3;
}

map_msgs/map_speed_control.proto ​

旁路文件，并不直接嵌入 Map。

proto
message SpeedControl {
  optional string name = 1;
  optional apollo.hdmap.Polygon polygon = 2;
  optional double speed_limit = 3;
}
message SpeedControls { repeated SpeedControl speed_control = 1; }

map_msgs/map_parking_space.proto ​

proto
message ParkingSpace {
  optional Id id = 1;
  optional Polygon polygon = 2;
  repeated Id overlap_id = 3;
  optional double heading = 4;
}
message ParkingLot {
  optional Id id = 1;
  optional Polygon polygon = 2;
  repeated Id overlap_id = 3;
}

map_msgs/map_pnc_junction.proto ​

proto
message Passage {
  optional Id id = 1;
  repeated Id signal_id = 2;
  repeated Id yield_id = 3;
  repeated Id stop_sign_id = 4;
  repeated Id lane_id = 5;
  enum Type { UNKNOWN = 0; ENTRANCE = 1; EXIT = 2; }
  optional Type type = 6;
}
message PassageGroup {
  optional Id id = 1;
  repeated Passage passage = 2;
}
message PNCJunction {
  optional Id id = 1;
  optional Polygon polygon = 2;
  repeated Id overlap_id = 3;
  repeated PassageGroup passage_group = 4;
}

map_msgs/map_barrier_gate.proto ​

proto
message BarrierGate {
  enum BarrierGateType { ROD=1; FENCE=2; ADVERTISING=3; TELESCOPIC=4; OTHER=5; }
  required Id id = 1;
  optional BarrierGateType type = 2;
  optional Polygon polygon = 3;
  repeated Curve stop_line = 4;
  repeated Id overlap_id = 5;
}

map_msgs/map_rsu.proto ​

proto
message RSU {
  optional Id id = 1;
  optional Id junction_id = 2;
  repeated Id overlap_id = 3;
}

map_msgs/map_area.proto ​

proto
message Area {
  enum Type { Driveable=1; UnDriveable=2; Custom1=3; Custom2=4; Custom3=5; }
  required Id id = 1;
  optional Type type = 2;
  required Polygon polygon = 3;
  repeated Id overlap_id = 4;
  optional string name = 5;
}

map_msgs/map.proto ​

顶层容器。

proto
message Projection {
  optional string proj = 1;  // PROJ.4 字符串
}
message Header {
  optional bytes version = 1;
  optional bytes date = 2;
  optional Projection projection = 3;
  optional bytes district = 4;
  optional bytes generation = 5;
  optional bytes rev_major = 6;
  optional bytes rev_minor = 7;
  optional double left = 8;
  optional double top = 9;
  optional double right = 10;
  optional double bottom = 11;
  optional bytes vendor = 12;
}
message Map {
  optional 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;
  optional apollo.hdmap.editor.EditorMeta editor_meta = 1000;
}

字段编号 1000 的含义

editor_meta 字段是 Apollo Map Studio 私有扩展，使用 ≥1000 的字段段， 确保不与未来 Apollo 官方字段冲突。Apollo 运行时把它当作 unknown 字段保留。

editor/editor_meta.proto ​

proto
message EditorMeta {
  optional uint32 version = 1;
  map<string, EntityMeta> entity = 2;  // key: "<entityType>:<id>"
}
message EntityMeta {
  enum GeometryKind {
    GEOMETRY_KIND_UNSPECIFIED = 0;
    LINESTRING = 1;
    POLYGON = 2;
  }
  optional GeometryKind geometry_kind = 1;
}

要点：

  • 仅追加，不能删字段；删字段必须用 reserved。
  • 字段编号跨编辑器版本稳定。
  • 仅供编辑器消费，禁止在 Apollo 生产代码中读取。

字段编号备忘表 ​

区段用途
1–999Apollo 官方字段。新增需向 Apollo 项目对齐。
1000+Apollo Map Studio 私有扩展（如 Map.editor_meta = 1000）。

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