Error in Vehicle Adaptation Process: Outdated Documentation and Registration Issues

[HandsomeAIccx]

The specific problem is related to vehicle adaptation. The previous documentation (https://github.com/ApolloAuto/apollo/blob/266afbf68d83fa6fac7a812ff8a950223f5ab2c0/docs/technical_tutorial/apollo_vehicle_adaption_tutorial_cn.md) seems to be outdated, and the contents in the new version do not correspond to the old one. The main problem is that I cannot find where to register a new vehicle. For example, in the fifth step of the documentation, I kindly request assistance. Thank you.

System information

• OS Platform and Distribution and Hardware (Linux Ubuntu 20.04, orin):
• Apollo installed from (source):
• Apollo version (9.x_alpha):

[daohu527]

Yes, here is the latest vehicle chassis registration method

1. Generate vehicle protocol

Generate vehicle protocol and place it in modules/canbus_vehicle like other vehicles

2. Set AbstractVehicleFactory

Set your new VehicleFactory in the following configuration file.

apollo/modules/canbus/conf/canbus.conf

Line 4 in a3c851f

--load_vehicle_class_name=LincolnVehicleFactory

The following code will automatically create a vehicle class based on the VehicleFactory name.

apollo/modules/canbus/canbus_component.cc

Lines 58 to 64 in a3c851f

	auto vehicle_object = loader.CreateClassObj<AbstractVehicleFactory>(
	FLAGS_load_vehicle_class_name);
	if (!vehicle_object) {
	AERROR << "Failed to create the vehicle factory: "
	<< FLAGS_load_vehicle_class_name;
	return false;
	}