package map

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View/edit binary Protocol Buffers messages

Used in: Junction

• repeated LightState states = 1

  描述最大压力信控的可行相位，由每个lane的灯控情况组成，lane与Junction.lane_ids一一对应 Describes the feasible phase for max pressure algorithm, consisting of the lighting control situation for each lane in the junction, nd the lane corresponds one-to-one with junction.lane_ids

Used in: Lane

• CENTER_LINE_TYPE_UNSPECIFIED = 0

• CENTER_LINE_TYPE_FREEWAY = 1

• CENTER_LINE_TYPE_SURFACE_STREET = 2

• CENTER_LINE_TYPE_BIKE = 3

地图元信息 Map meta information

Used in: Map

• string name = 1

  地图名称 Map name

• string date = 2

  地图创建时间 Map creation time

• double north = 3

  最大纬度对应的y坐标 y coordinate corresponding to the maximum latitude

• double south = 4

  最小纬度对应的y坐标 y coordinate corresponding to the minimum latitude

• double east = 5

  最大经度对应的x坐标 x coordinate corresponding to the maximum longitude

• double west = 6

  最小经度对应的x坐标 x coordinate corresponding to the minimum longitude

• string projection = 7

  PROJ.4 投影字符串，用以支持xy坐标到其他坐标系的转换 PROJ.4 projection string to support the conversion of xy coordinates to other coordinate systems

Junction，用于描述路口 Junction, describing road intersections

Used in: Map

• int32 id = 1

  路口id（从3_0000_0000开始） Junction id (starting from 3_0000_0000)

• repeated int32 lane_ids = 2

  属于该路口Junction的所有车道/人行道等lane All driving/walking lanes belonging to this junction.

• repeated JunctionLaneGroup driving_lane_groups = 3

  属于该路口Junction的所有行车车道组 All driving lane groups belonging to this junction

• repeated AvailablePhase phases = 4

  所有可用信号灯相位 All available phases for max pressure algorithm

• optional TrafficLight fixed_program = 5

  默认固定相位信号灯 Default fixed phases traffic light

• repeated RoadLine road_lines = 6

  路口内部车道线 Junction internal road lines

• repeated RoadEdge road_edges = 7

  路口道路边界 Junction road boundary

车道组，用于描述路口内的车道组合 Lane group, describing the combination of lanes within an intersection 具有相同入口道路和出口道路的车道组成一个车道组 Lanes with the same entrance and exit roads form a lane group 车道组是信控处理、路口通行的基本单元 Lane group is the basic unit for signal control and traffic in the junction.

Used in: Junction

• int32 in_road_id = 1

  该车道组的入口道路 The entrance road to this lane group

• double in_angle = 2

  该车道组的入口角度（弧度制） The entrance angle of this lane group (in radians)

• int32 out_road_id = 3

  该车道组的出口道路 The exit road for this lane group

• double out_angle = 4

  该车道组的出口角度（弧度制） The exit angle of this lane group (in radians)

• repeated int32 lane_ids = 5

  该车道组包含的车道 Lanes in the group

• LaneTurn turn = 6

  该车道组的转向属性 The turn type of this lane group

Lane，用于描述道路上的车道、人行道等 Lane, used to describe lanes, sidewalks, etc. on the road

Used in: Map

• int32 id = 1

  车道id（从0开始） lane id (starts from 0)

• LaneType type = 2

  车道类型 lane type

• LaneTurn turn = 3

  车道转向 lane turn type

• double max_speed = 4

  限速 (m/s) max speed (m/s)

• double length = 5

  中心线长度（单位：米） centerline length (in meters)

• double width = 6

  车道宽度（单位：米） lane width (in meters)

• optional Polyline center_line = 7

  车道中心线（车辆/行车轨迹线） Lane center line (vehicle/driving line)

• optional Polyline left_border_line = 8

  车道左边界线 Lane left boundary line

  弃用 deprecated

• optional Polyline right_border_line = 9

  车道右边界线 Lane right boundary line

  弃用 deprecated

• repeated LaneConnection predecessors = 10

  Lanes can drive / walk from 对于Junction内的车道至多1个前驱 For lanes within junction, there is at most 1 predecessor 对于LANE_TYPE_DRIVING，连接类型必为LANE_CONNECTION_TYPE_TAIL For LANE_TYPE_DRIVING, the connection type must be LANE_CONNECTION_TYPE_TAIL 对于LANE_TYPE_WALKING连接类型，两种都有可能 For LANE_TYPE_WALKING, both connection types are possible

• repeated LaneConnection successors = 11

  Lanes can drive / walk to 对于Junction内的车道至多1个后继 For lanes within junction, there is at most 1 successor 对于LANE_TYPE_DRIVING，连接类型必为LANE_CONNECTION_TYPE_HEAD For LANE_TYPE_DRIVING, the connection type must be LANE_CONNECTION_TYPE_HEAD 对于LANE_TYPE_WALKING连接类型，两种都有可能 For LANE_TYPE_WALKING, both connection types are possible

• repeated int32 left_lane_ids = 12

  左侧相邻车道（按从近到远排列） Adjacent lanes on the left (arranged from nearest to far)

• repeated int32 right_lane_ids = 13

  右侧相邻车道（按从近到远排列） Adjacent lanes on the right (arranged from nearest to far)

• int32 parent_id = 14

  所属的道路road id或路口junction id The road id or junction id it belongs to

• repeated LaneOverlap overlaps = 15

  车道之间的冲突点（仅在Junction内有效），保证按照self_s从小到大排序 Conflict points between lanes (valid only within Junction), guaranteed to be sorted from small to large according to self_s

• CenterLineType center_line_type = 16

  车道中心线类型 Center line type

车道连接信息 Lane connection information

Used in: Lane

• int32 id = 1

  所连接的车道Lane的ID ID of the connected lane

• LaneConnectionType type = 2

  连接类型 Connection type

车道连接类型 Lane connection type

Used in: LaneConnection

• LANE_CONNECTION_TYPE_UNSPECIFIED = 0

  未指定 unspecified

• LANE_CONNECTION_TYPE_HEAD = 1

  连接处为道路开头 The connection is at the lane head

• LANE_CONNECTION_TYPE_TAIL = 2

  连接处为道路结尾 The connection is at the lane tail

两个lane的冲突区域 Conflict area between two lanes

Used in: Lane

• optional geo.LanePosition self = 1

  冲突点在本车道上的坐标 Coordinates of the conflict point on this lane

• optional geo.LanePosition other = 2

  冲突点在冲突车道上的坐标 Coordinates of the conflict point on the conflicted lane

• bool self_first = 3

  本车道是否有优先通行权 Whether this lane has priority

车道转向 lane turn type

Used in: JunctionLaneGroup, Lane

• LANE_TURN_UNSPECIFIED = 0

  未指定 unspecified

• LANE_TURN_STRAIGHT = 1

  直行 go straight

• LANE_TURN_LEFT = 2

  左转 turn left

• LANE_TURN_RIGHT = 3

  右转 turn right

• LANE_TURN_AROUND = 4

  掉头 turn around

车道类型 Lane type

Used in: Lane

• LANE_TYPE_UNSPECIFIED = 0

  未指定 unspecified

• LANE_TYPE_DRIVING = 1

  行车 driving

• LANE_TYPE_WALKING = 2

  步行 walking

交通灯的状态 traffic light state

Used in: AvailablePhase, Phase

• LIGHT_STATE_UNSPECIFIED = 0

  未指定 unspecified

• LIGHT_STATE_RED = 1

  红灯 red light

• LIGHT_STATE_GREEN = 2

  绿灯 green light

• LIGHT_STATE_YELLOW = 3

  黄灯 yellow light

地图，对应一个地图pb文件或一个地图mongodb collection Map, corresponding to a map pb file or a map MongoDB collection

• optional Header header = 1

• repeated Lane lanes = 2

• repeated Road roads = 3

• repeated Junction junctions = 4

Used in: NextRoadLanePlan

• int32 road_id = 1

  下一条路的id ID of the next road

• int32 lane_id_a = 2

  我们假定能去往对应道路的车道id范围是连续的，用[a,b]表示 We assume that the range of lane IDs of the next road is continuous, represented by [a, b]

• int32 lane_id_b = 3

Used in: Road

• repeated NextRoadLane next_road_lanes = 1

  记录去往目标next_road的可行lane集合 set of feasible lanes for going to the next_road

交通灯相位 traffic light phase

Used in: TrafficLight

• double duration = 1

  相位持续时间，单位秒 Phase duration in seconds

• repeated LightState states = 2

  描述该相位下每个lane的灯控情况，lane与Junction.lane_ids一一对应 The lighting control situation of each lane in this phase, and the lane corresponds one-to-one with junction.lane_ids

折线，用于定义车道等的形状 Polyline, used to define the shape of lanes, etc.

Used in: Lane

• repeated geo.XYPosition nodes = 1

  折线上的点 Points of the polyline

Road，用于描述道路 Road, describing roads

Used in: Map

• int32 id = 1

  道路id（从2_0000_0000开始） Road ID (starting from 2_0000_0000)

• string name = 4

  道路名字 road name

• repeated int32 lane_ids = 2

  属于该道路Road的所有车道/人行道等lane All lanes/sidewalks belonging to the road lane_id是按从最左侧车道到最右侧车道(从前进方向来看)的顺序给出的 lane_ids are given in order from the leftmost lane to the rightmost lane (viewed from the forward direction)

• repeated NextRoadLanePlan next_road_lane_plans = 3

  对于包含动态车道的道路，需要通过这一项来指定所有的候选方案 For roads containing dynamic lanes, this is required to specify all candidates

• repeated RoadLine road_lines = 5

  车道线 road lines

• repeated RoadEdge road_edges = 6

  车道边界 road edges

• repeated RoadConnection road_connections = 7

  道路连接 road connections

RoadConnection，用于描述道路之间的连接（平行对向道路） RoadConnection, used to describe the connection between roads

Used in: Road

• RoadLineType type = 1

  车道线类型 Road line type

• repeated geo.XYPosition nodes = 2

  车道线上的点 Points on the road line

• int32 road_id = 3

  连接的道路id ID of the connected road

RoadEdge，用于描述道路边界 RoadEdge, used to describe road boundaries

Used in: Junction, Road

• RoadEdgeType type = 1

  车道边界类型 Road edge type

• repeated geo.XYPosition nodes = 2

  车道边界线上的点 Points on the road edge line

车道边界类型 参考https://github.com/waymo-research/waymo-open-dataset

Used in: RoadEdge

• ROAD_EDGE_TYPE_UNSPECIFIED = 0

• ROAD_EDGE_TYPE_BOUNDARY = 1

• ROAD_EDGE_TYPE_MEDIAN = 2

车道线 road line

Used in: Junction, Road

• RoadLineType type = 1

  车道线类型 Road line type

• repeated geo.XYPosition nodes = 2

  车道线上的点 Points on the road line

车道线类型 参考https://github.com/waymo-research/waymo-open-dataset

Used in: RoadConnection, RoadLine

• ROAD_LINE_TYPE_UNSPECIFIED = 0

• ROAD_LINE_TYPE_BROKEN_SINGLE_WHITE = 1

• ROAD_LINE_TYPE_SOLID_SINGLE_WHITE = 2

• ROAD_LINE_TYPE_SOLID_DOUBLE_WHITE = 3

• ROAD_LINE_TYPE_BROKEN_SINGLE_YELLOW = 4

• ROAD_LINE_TYPE_BROKEN_DOUBLE_YELLOW = 5

• ROAD_LINE_TYPE_SOLID_SINGLE_YELLOW = 6

• ROAD_LINE_TYPE_SOLID_DOUBLE_YELLOW = 7

• ROAD_LINE_TYPE_PASSING_DOUBLE_YELLOW = 8

交通灯 traffic light

Used in: Junction

• int32 junction_id = 1

  所在路口id ID of the junction where the traffic light is at

• repeated Phase phases = 2

  相位循环的一个循环周期 One cycle of phase cycling