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快速入门

设置 Apollo 的硬件和软件指南，按版本分列

• Quick Start Guides
  • Apollo 6.0
  • Apollo 5.5
  • Apollo 5.0
  • Apollo 3.5
  • Apollo 3.0
  • Apollo 2.5
  • Apollo 2.0
  • Apollo 1.5
  • Apollo 1.0
  • Others
• Apollo Software Installation Guide
  • Pre-requisites
  • Download Apollo Sources
  • Start Apollo Development Docker Container
  • Enter Apollo Development Docker Container
  • Build Apollo inside Container
  • Launch and Run Apollo
  • (Optional) Support a new Vehicle in DreamView
• Apollo Upgraded Hardware and System Installation Guide
  • About This Guide
    • Document Conventions
  • Introduction
    • Documentation
  • Key Hardware Components
    • Additional Components Required
  • Steps for the Installation Tasks
    • At the Office
    • In the Vehicle
      • Prerequisites
      • Diagrams of the Major Component Installations
  • Additional Tasks Required
  • Time Sync Script Setup [Optional]
  • Next Steps
• Apollo 1.0
  • Apollo 1.0 Quick Start Guide
    • Contents
  • About This Guide
    • Document Conventions
  • About Apollo 1.0
  • Description of the Vehicle Environment
  • Hardware Installation
  • Apollo Software Installation
  • Run Demo on Vehicle
    • Launch the Local release env Docker Image
    • Record the Driving Trajectory
    • Perform Autonomous Driving
    • Shut Down
  • Run Offline Demo
  • Apollo 1.0 Hardware and System Installation Guide
  • About This Guide
    • Document Conventions
  • Introduction
    • Documentation
  • Key Hardware Components
    • Additional Components Required
    • Onboard Computer System - IPC
      • IPC Configuration
      • IPC Front and Rear Views
    • Controller Area Network (CAN) Card
    • Global Positioning System (GPS) and Inertial Measurement Unit (IMU)
      • Option 1: The NovAtel SPAN-IGM-A1
      • Option 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1
    • The GPS Receiver/Antenna
  • Overview of the Installation Tasks
  • Steps for the Installation Tasks
    • At the Office
      • Preparing the IPC
      • Installing the Software for the IPC
        • Installing Ubuntu Linux
        • Installing the Apollo Kernel
          • Use pre-built Apollo Kernel.
          • Build your own kernel.
          • Optional: Test the ESD CAN device node
    • In the Vehicle
      • Prerequisites
      • Diagrams of the Major Component Installations
      • Installing the GPS Receiver and Antenna
        • Option 1: Installing the NovAtel SPAN-IGM-A1
          • Mounting
          • Wiring
          • Taking the Lever Arm Measurement
        • Option 2: Installing NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1
          • Components for the Installation
          • Mounting
          • Wiring
      • Installingthe IPC
        • Taking the Lever Arm Measurement
      • Configuring the GPS and IMU
  • Setting up the Network
    • Recommendations
  • Additional Tasks Required
  • Next Steps
  • Apollo 1.0 Quick Start Guide for Developers
    • Contents
  • About This Guide
    • Document Conventions
  • Introduction
  • Build the Apollo Kernel
    • Use pre-built Apollo Kernel.
    • Build your own kernel.
  • Access the Apollo Dev Container
  • Build the Apollo ROS
  • Build Apollo
  • Release
• Apollo 1.5
  • Apollo 1.5 Quick Start Guide
  • Onboard Test
  • Apollo 1.5 Hardware and System Installation Guide
  • About This Guide
    • Document Conventions
  • Introduction
    • Documentation
  • Key Hardware Components
    • Additional Components Required
    • Onboard Computer System - IPC
      • IPC Configuration
      • IPC Front and Side Views
    • Controller Area Network (CAN) Card
    • Global Positioning System (GPS) and Inertial Measurement Unit (IMU)
      • Option 1: The NovAtel SPAN-IGM-A1
      • Option 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1
    • The GPS Receiver/Antenna
    • Light Detection and Ranging System (LiDAR)
  • Overview of the Installation Tasks
  • Steps for the Installation Tasks
    • At the Office
      • Preparing the IPC
      • Installing the Software for the IPC
        • Installing Ubuntu Linux
        • Installing the Apollo Kernel
          • Use pre-built Apollo Kernel.
          • Build your own kernel.
        • Installing Nvidia GPU Driver
          • Optional: Test the ESD CAN device node
    • In the Vehicle
      • Prerequisites
      • Diagrams of the Major Component Installations
      • Installing the GPS Receiver and Antenna
        • Option 1: Installing the NovAtel SPAN-IGM-A1
          • Mounting
          • Wiring
          • Taking the Lever Arm Measurement
        • Option 2: Installing NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1
          • Components for the Installation
          • Mounting
          • Wiring
      • Installing the Light Detection and Ranging System (LiDAR)
        • Mounting
        • Wiring
        • Configuration
      • Installing the IPC
        • Taking the Lever Arm Measurement
      • Configuring the GPS and IMU
  • Setting up the Network
    • Recommendations
  • Additional Tasks Required
  • Next Steps
• Apollo 2.0
  • Apollo 2.0 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
  • Apollo 2.0 Hardware and System Installation Guide
  • About This Guide
    • Document Conventions
  • Introduction
    • Documentation
  • Key Hardware Components
    • Additional Components Required
    • Onboard Computer System - IPC
      • IPC Configuration
      • IPC Front and Side Views
    • Controller Area Network (CAN) Card
    • Global Positioning System (GPS) and Inertial Measurement Unit (IMU)
      • Option 1: The NovAtel SPAN-IGM-A1
      • Option 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1
    • The GPS Receiver/Antenna
    • Light Detection and Ranging System (LiDAR)
      • Option 1: Velodyne HDL-64E S3
      • Option 2: Hesai Pandora
    • Cameras
    • Radar
  • Overview of the Installation Tasks
  • Steps for the Installation Tasks
    • At the Office
      • Prepare the IPC
      • Installing the Software for the IPC
        • Installing Ubuntu Linux
        • Installing the Apollo Kernel
          • Use the pre-built Apollo Kernel.
          • Build your own kernel.
        • Installing NVIDIA GPU Driver
          • Optional: Test the ESD CAN device node
    • In the Vehicle
      • Prerequisites
      • Diagrams of the Major Component Installations
      • Installing the GPS Receiver and Antenna
        • Option 1: Installing the NovAtel SPAN-IGM-A1
          • Mounting
          • Wiring
          • Taking the Lever Arm Measurement
        • Option 2: Installing NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1
          • Components for the Installation
          • Mounting
          • Wiring
      • Installing the Light Detection and Ranging System (LiDAR)
        • Option 1: Installing Velodyne HDL-64E S3
          • Mounting
          • Wiring
          • Configuration
        • Option 2: Installing Hesai Pandora
          • Mounting
          • Wiring
      • Installing the Cameras
      • Installing the Radar
      • Installing the IPC
        • Taking the Lever Arm Measurement
      • Configuring the GPS and IMU
  • Setting up the Network
    • Recommendations
  • Additional Tasks Required
  • Time Sync Script Setup [Optional]
  • Next Steps
  • Apollo 2.0 Sensor Calibration Guide
    • About This Guide
    • Overview
    • Preparation
      • Well Calibrated Intrinsics of Camera
      • Initial Extrinsic File
      • Calibration Site
      • Required Topics
    • Using the Calibration Tools
      • Camera-to-Camera Calibration Tool
      • Camera-to-LiDAR Calibration
      • Radar-to-Camera Calibration
    • IMU-to-Vehicle Calibration
      • (Optional) Run All Calibration Tools
    • Obtaining Calibration Results
    • Validation Methods and Results
      • Camera-to-Camera Calibration
      • Camera-to-LiDAR Calibration
      • Radar-to-Camera Calibration
        • Radar LiDAR Visualizer Projection Tool
• Apollo 2.5
  • Apollo 2.5 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
  • Apollo 2.5 Hardware and System Installation Guide
  • About This Guide
    • Document Conventions
  • Introduction
    • Documentation
  • Key Hardware Components
    • Additional Components Required
    • Onboard Computer System - IPC
      • IPC Configuration
      • IPC Front and Side Views
    • Controller Area Network (CAN) Card
    • Global Positioning System (GPS) and Inertial Measurement Unit (IMU)
      • Option 1: The NovAtel SPAN-IGM-A1
      • Option 2: The NovAtel SPAN ProPak6 and NovAtel IMU-IGM-A1
    • The GPS Receiver/Antenna
      • Option 1: The NovAtel GPS-703-GGG-HV.
      • Option 2: Dual NovAtel GNSS-502
    • Light Detection and Ranging System (LiDAR)
    • Cameras
    • Radar
  • Overview of the Installation Tasks
  • Steps for the Installation Tasks
    • At the Office
      • Preparing the IPC
      • Installing the Software for the IPC
        • Installing Ubuntu Linux
        • Installing the Apollo Kernel
          • Use the pre-built Apollo Kernel.
          • Build your own kernel.
        • Installing NVIDIA GPU Driver
          • Optional: Test the ESD CAN device node
    • In the Vehicle
      • Prerequisites
      • Diagrams of the Major Component Installations
      • Installing the GPS Receiver and Antenna
        • Option 1: Installing the NovAtel SPAN-IGM-A1
          • Mounting
          • Wiring
          • Taking the Lever Arm Measurement
        • Option 2: Installing NovAtel SPAN® ProPak6™ and NovAtel IMU-IGM-A1
          • Components for the Installation
          • Mounting
          • Wiring
      • Installing the Light Detection and Ranging System (LiDAR)
        • Mounting
        • Wiring
        • Configuration
        • (Optional) Installation of VLP-16 lidar
      • Installing the Cameras
      • Installing the Radar
      • Installing the IPC
        • Taking the Lever Arm Measurement
      • Configuring the GPS and IMU
  • Setting up the Network
    • Recommendations
  • Additional Tasks Required
  • Time Sync Script Setup [Optional]
  • Next Steps
  • Apollo 2.5 map collection guide
    • Hardware and Software Requirement
    • Data Collection Steps
    • Map Production Service
• Apollo 3.0
  • Apollo 3.0 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
  • Apollo 3.0 Hardware and System Installation Guide
    • About This Guide
      • Document Conventions
    • Introduction
      • Documentation
    • Key Hardware Components
      • Additional Components Required
    • Steps for the Installation Tasks
      • At the Office
      • In the Vehicle
        • Prerequisites
        • Diagrams of the Major Component Installations
    • Additional Tasks Required
    • Time Sync Script Setup [Optional]
    • Next Steps
  • Multiple-LiDAR GNSS Calibration Guide
    • Contents
    • Overview
    • Preparation
    • Using the Calibration Tool
      • Record Calibration Data
      • Export Data
      • Run the Calibration Tool
    • Results and Validation
• Apollo 3.5
  • Apollo 3.5 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
  • Apollo 3.5 Hardware and System Installation Guide
    • About This Guide
      • Document Conventions
    • Introduction
      • Documentation
    • Key Hardware Components
      • Additional Components Required
    • Steps for the Installation Tasks
      • At the Office
      • In the Vehicle
        • Prerequisites
        • Diagrams of the Major Component Installations
    • Additional Tasks Required
    • Time Sync Script Setup [Optional]
    • Next Steps
  • Apollo 3.5 Map Collection Guide
    • Prerequisites
      • Hardware requirements
        • Installation of VLP-16 lidar
      • Software requirements
      • Calibration requirement
      • Additional requirements
    • Good to know - Data Collection
    • Data Collection Steps
    • Data Verification
    • Data Size Management
    • Data Upload
    • FAQs
• Apollo 5.0
  • Apollo 5.0 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
• Apollo 5.5
  • Apollo 5.5 Quick Start Guide
    • Contents
    • Calibration Guide
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test
• Apollo 6.0
  • Apollo 6.0 Quick Start Guide
    • Contents
    • Emergency Audio Detection
    • New Deep Learning Models
    • Hardware and Software Installation
    • Dreamview Usage Table
    • Onboard Test

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