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I learned the answer of first question. There is an online tool for creating vector maps: https://tools.tier4.jp/vector_map_builder_ll2/ . After generating pcd files of kitti (ref: https://answers.ros.org/question/269679/hi-guys-i-m-trying-to-create-a-map-in-a-pcd-file-using-kitti-datasets-can-anyone-help-me-i-have-transformed-kitti-dataset-to-a-rosbag-file/), the vector map can be generated by using the point cloud data in that online tool.

Also, The ADAS map is not the vector map, but I still don't know what it is.

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