package apollo.hdmap

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: Map

• required Id id = 1

• optional Area.Type type = 2

• required Polygon polygon = 3

• repeated Id overlap_id = 4

• optional string name = 5

Used in: Area

• Driveable = 1

• UnDriveable = 2

• Custom1 = 3

• Custom2 = 4

• Custom3 = 5

Used in: ObjectOverlapInfo

(message has no fields)

Used in: Map

• required Id id = 1

• optional BarrierGate.BarrierGateType type = 2

• optional Polygon polygon = 3

• repeated Curve stop_line = 4

• repeated Id overlap_id = 5

Used in: BarrierGate

• ROD = 1

• FENCE = 2

• ADVERTISING = 3

• TELESCOPIC = 4

• OTHER = 5

Used in: ObjectOverlapInfo

(message has no fields)

Used in: BoundaryPolygon

• optional Curve curve = 1

• optional BoundaryEdge.Type type = 2

Used in: BoundaryEdge

• UNKNOWN = 0

• NORMAL = 1

• LEFT_BOUNDARY = 2

• RIGHT_BOUNDARY = 3

Used in: RoadBoundary

• repeated BoundaryEdge edge = 1

Used in: Map

• optional Id id = 1

• repeated Id overlap_id = 2

• optional Polygon polygon = 3

Used in: ObjectOverlapInfo

(message has no fields)

Crosswalk is a place designated for pedestrians to cross a road.

Used in: Map

• optional Id id = 1

• optional Polygon polygon = 2

• repeated Id overlap_id = 3

Used in: ObjectOverlapInfo

• optional Id region_overlap_id = 1

An object similar to a line but that need not be straight.

Used in: BarrierGate, BoundaryEdge, Lane, LaneBoundary, Signal, SpeedBump, StopSign, YieldSign

• repeated CurveSegment segment = 1

Generalization of a line.

Used in: Curve

• oneof curve_type

  • LineSegment line_segment = 1

• optional double s = 6

  start position (s-coordinate)

• optional common.PointENU start_position = 7

• optional double heading = 8

  start orientation

• optional double length = 9

Used in: Map

• 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

Global unique ids for all objects (include lanes, junctions, overlaps, etc).

Used in: Area, BarrierGate, ClearArea, Crosswalk, CrosswalkOverlapInfo, Junction, Lane, LaneOverlapInfo, ObjectOverlapInfo, Overlap, PNCJunction, ParkingLot, ParkingSpace, Passage, PassageGroup, RSU, RegionOverlapInfo, Road, RoadROIBoundary, RoadSection, Signal, SpeedBump, StopSign, Subsignal, YieldSign, planning.ADCTrajectory

• optional string id = 1

A junction is the junction at-grade of two or more roads crossing.

Used in: Map

• optional Id id = 1

• optional Polygon polygon = 2

• repeated Id overlap_id = 3

• optional Junction.Type type = 4

Used in: Junction

• UNKNOWN = 0

• IN_ROAD = 1

• CROSS_ROAD = 2

• FORK_ROAD = 3

• MAIN_SIDE = 4

• DEAD_END = 5

Used in: ObjectOverlapInfo

(message has no fields)

A lane is part of a roadway, that is designated for use by a single line of vehicles. Most public roads (include highways) have more than two lanes.

Used in: Map

• optional Id id = 1

• optional Curve central_curve = 2

  Central lane as reference trajectory, not necessary to be the geometry central.

• optional LaneBoundary left_boundary = 3

  Lane boundary curve.

• optional LaneBoundary right_boundary = 4

• optional double length = 5

  in meters.

• optional double speed_limit = 6

  Speed limit of the lane, in meters per second.

• repeated Id overlap_id = 7

• repeated Id predecessor_id = 8

  All lanes can be driving into (or from).

• repeated Id successor_id = 9

• repeated Id left_neighbor_forward_lane_id = 10

  Neighbor lanes on the same direction.

• repeated Id right_neighbor_forward_lane_id = 11

• optional Lane.LaneType type = 12

• optional Lane.LaneTurn turn = 13

• repeated Id left_neighbor_reverse_lane_id = 14

• repeated Id right_neighbor_reverse_lane_id = 15

• optional Id junction_id = 16

• repeated LaneSampleAssociation left_sample = 17

  Association between central point to closest boundary.

• repeated LaneSampleAssociation right_sample = 18

• optional Lane.LaneDirection direction = 19

• repeated LaneSampleAssociation left_road_sample = 20

  Association between central point to closest road boundary.

• repeated LaneSampleAssociation right_road_sample = 21

• repeated Id self_reverse_lane_id = 22

Used in: Lane

• FORWARD = 1

• BACKWARD = 2

• BIDIRECTION = 3

Used in: Lane

• NO_TURN = 1

• LEFT_TURN = 2

• RIGHT_TURN = 3

• U_TURN = 4

Used in: Lane, prediction.LaneFeature, prediction.LaneSequence

• NONE = 1

• CITY_DRIVING = 2

• BIKING = 3

• SIDEWALK = 4

• PARKING = 5

• SHOULDER = 6

• SHARED = 7

Used in: Lane

• optional Curve curve = 1

• optional double length = 2

• optional bool virtual = 3

  indicate whether the lane boundary exists in real world

• repeated LaneBoundaryType boundary_type = 4

  in ascending order of s

Used in: LaneBoundary

• optional double s = 1

  Offset relative to the starting point of boundary

• repeated LaneBoundaryType.Type types = 2

  support multiple types

Used in: LaneBoundaryType, perception.LaneMarker

• UNKNOWN = 0

• DOTTED_YELLOW = 1

• DOTTED_WHITE = 2

• SOLID_YELLOW = 3

• SOLID_WHITE = 4

• DOUBLE_YELLOW = 5

• CURB = 6

Used in: ObjectOverlapInfo

• optional double start_s = 1

  position (s-coordinate)

• optional double end_s = 2

  position (s-coordinate)

• optional bool is_merge = 3

• optional Id region_overlap_id = 4

Association between central point to closest boundary.

Used in: Lane

• optional double s = 1

• optional double width = 2

Straight line segment.

Used in: CurveSegment, simulation.FollowAndBypassCondition

• repeated common.PointENU point = 1

Used in: relative_map.MapMsg

• 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

Information about one object in the overlap.

Used in: Overlap

• 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

Here, the "overlap" includes any pair of objects on the map (e.g. lanes, junctions, and crosswalks).

Used in: Map

• optional Id id = 1

• repeated ObjectOverlapInfo object = 2

  Information about one overlap, include all overlapped objects.

• repeated RegionOverlapInfo region_overlap = 3

Used in: Map

• optional Id id = 1

• optional Polygon polygon = 2

• repeated Id overlap_id = 3

• repeated PassageGroup passage_group = 4

Used in: ObjectOverlapInfo

(message has no fields)

ParkingLot is a place for parking cars.

• optional Id id = 1

• optional Polygon polygon = 2

• repeated Id overlap_id = 3

ParkingSpace is a place designated to park a car.

Used in: Map

• optional Id id = 1

• optional Polygon polygon = 2

• repeated Id overlap_id = 3

• optional double heading = 4

Used in: ObjectOverlapInfo

(message has no fields)

Used in: PassageGroup

• 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

• optional Passage.Type type = 6

Used in: Passage

• UNKNOWN = 0

• ENTRANCE = 1

• EXIT = 2

Used in: PNCJunction

• optional Id id = 1

• repeated Passage passage = 2

Polygon, not necessary convex.

Used in: Area, BarrierGate, ClearArea, Crosswalk, Junction, PNCJunction, ParkingLot, ParkingSpace, RegionOverlapInfo, Signal, SpeedControl, routing.ParkingInfo, simulation.FollowAndBypassCondition, simulation.LimitedTimeParkingCondition, simulation.ObstacleBypassCondition, simulation.WorkingZoneAvoidLimitCondition

• repeated common.PointENU point = 1

This message defines how we project the ellipsoidal Earth surface to a plane.

Used in: Header

• optional string proj = 1

  PROJ.4 setting: "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor} +ellps=WGS84 +no_defs"

Used in: Map

• optional Id id = 1

• optional Id junction_id = 2

• repeated Id overlap_id = 3

Used in: ObjectOverlapInfo

(message has no fields)

Used in: Overlap

• optional Id id = 1

• repeated Polygon polygon = 2

The road is a collection of traffic elements, such as lanes, road boundary etc. It provides general information about the road.

Used in: Map

• optional Id id = 1

• repeated RoadSection section = 2

• optional Id junction_id = 3

  if lane road not in the junction, junction id is null.

• optional Road.Type type = 4

Used in: Road

• UNKNOWN = 0

• HIGHWAY = 1

• CITY_ROAD = 2

• PARK = 3

boundary with holes

Used in: RoadROIBoundary, RoadSection

• optional BoundaryPolygon outer_polygon = 1

• repeated BoundaryPolygon hole = 2

  if boundary without hole, hole is null

• optional Id id = 1

• repeated RoadBoundary road_boundaries = 2

road section defines a road cross-section, At least one section must be defined in order to use a road, If multiple road sections are defined, they must be listed in order along the road

Used in: Road

• optional Id id = 1

• repeated Id lane_id = 2

  lanes contained in this section

• optional RoadBoundary boundary = 3

  boundary of section

Used in: Signal

• optional SignInfo.Type type = 1

Used in: SignInfo

• None = 0

• NO_RIGHT_TURN_ON_RED = 1

Used in: Map

• optional Id id = 1

• optional Polygon boundary = 2

• repeated Subsignal subsignal = 3

• repeated Id overlap_id = 4

  TODO: add orientation. now no data support.

• optional Signal.Type type = 5

• repeated Curve stop_line = 6

  stop line

• repeated SignInfo sign_info = 7

Used in: Signal

• UNKNOWN = 1

• MIX_2_HORIZONTAL = 2

• MIX_2_VERTICAL = 3

• MIX_3_HORIZONTAL = 4

• MIX_3_VERTICAL = 5

• SINGLE = 6

Used in: ObjectOverlapInfo

(message has no fields)

Used in: Map

• optional Id id = 1

• repeated Id overlap_id = 2

• repeated Curve position = 3

Used in: ObjectOverlapInfo

(message has no fields)

This proto defines the format of an auxiliary file that helps to define the speed limit on certain area of road. Apollo can use this file to quickly fix speed problems on maps, instead of waiting for updating map data.

Used in: SpeedControls

• optional string name = 1

• optional Polygon polygon = 2

• optional double speed_limit = 3

• repeated SpeedControl speed_control = 1

A stop sign is a traffic sign to notify drivers that they must stop before proceeding.

Used in: Map

• optional Id id = 1

• repeated Curve stop_line = 2

• repeated Id overlap_id = 3

• optional StopSign.StopType type = 4

Used in: StopSign

• UNKNOWN = 0

• ONE_WAY = 1

• TWO_WAY = 2

• THREE_WAY = 3

• FOUR_WAY = 4

• ALL_WAY = 5

Used in: ObjectOverlapInfo

(message has no fields)

Used in: Signal

• optional Id id = 1

• optional Subsignal.Type type = 2

• optional common.PointENU location = 3

  Location of the center of the bulb. now no data support.

Used in: Subsignal

• 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

Used in: ObjectOverlapInfo

(message has no fields)

A yield indicates that each driver must prepare to stop if necessary to let a driver on another approach proceed. A driver who stops or slows down to let another vehicle through has yielded the right of way to that vehicle.

Used in: Map

• optional Id id = 1

• repeated Curve stop_line = 2

• repeated Id overlap_id = 3