# Apollo 3.0 技术指南

## 概况

了解Apollo3.0基础概念和Apollo3.0快速入门指南

* [Apollo 3.0快速入门指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_quick_start_cn.md)
  
## 硬件和系统安装

了解Apollo3.0硬件和系统安装过程

* [Apollo 3.0硬件和系统安装指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_3_0_hardware_system_installation_guide_cn.md)

## 校准

了解校准的过程

* [Apollo激光雷达校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_1_5_lidar_calibration_guide_cn.md)
* [Apollo 2.0传感器校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_2_0_sensor_calibration_guide_cn.md)
* [多激光雷达全球导航卫星系统(Multiple-LiDAR GNSS)校准指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/multiple_lidar_gnss_calibration_guide_cn.md)
* [Apollo坐标系统](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/coordination_cn.md)

## 软件安装

了解Apollo3.0的软件安装过程

* [Apollo软件安装指南](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/quickstart/apollo_software_installation_guide_cn.md)
* [如何调试Dreamview启动问题](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_debug_dreamview_start_problem_cn.md)
* [运行线下演示](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/demo_guide/README_cn.md)
  
## Apollo系统架构和原理

了解核心模块的架构和原理

* [Apollo 3.0 软件架构](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/Apollo_3.0_Software_Architecture_cn.md "Apollo software architecture")
* [3D 障碍物感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/3d_obstacle_perception_cn.md)
* [Apollo 3.0感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
* [二次规划（QP）样条路径优化](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_path_optimizer_cn.md)
* [二次规划（QP）样条ST速度优化](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/qp_spline_st_speed_optimizer_cn.md)
* [参考线平滑设定](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/reference_line_smoother_cn.md)
* [交通信号灯感知](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/traffic_light_cn.md)
  
## 功能模块和相关扩展知识

了解Apollo功能模块和相关扩展知识

* [控制总线模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/canbus/README.md)
* [通用模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/common/README.md)
* [控制模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/control/README.md)
* [数据模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/data/README.md)
* [定位模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/localization/README.md)
* [感知模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/perception/README.md)
* [Planning模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/planning/README.md)
* [预测模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/prediction/README.md)
* [寻路模块](https://github.com/ApolloAuto/apollo/blob/r3.0.0/modules/routing/README.md)

* [如何添加新的GPS接收器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_gps_receiver_cn.md)
* [如何添加新的CAN卡](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_can_card_cn.md )
* [如何添加新的控制算法](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_control_algorithm_cn.md)
* [如何在预测模块中添加新评估器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_evaluator_in_prediction_module_cn.md)
* [如何在预测模块中添加一个预测器](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_predictor_in_prediction_module_cn.md)
* [如何在Apollo中添加新的车辆](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_a_new_vehicle_cn.md)
* [如何添加新的外部依赖项](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_add_an_external_dependency_cn.md)
  
## 开发者工具

了解开发者工具

* [使用VSCode构建、调试Apollo项目](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/howto/how_to_build_and_debug_apollo_in_vscode_cn.md "How  to build and debug Apollo in VSCode")
* [DreamView用法介绍](https://github.com/ApolloAuto/apollo/blob/r3.0.0/docs/specs/dreamview_usage_table_cn.md)