Zhao Tuo
During the collapse of the Qin dynasty, Zhao Tuo established himself as the King of Nanyue in southern China. Zhao was originally a Qin military officer from Zhending in northern China. The Han frontier in the south was not threatened and there was no indication that Zhao Tuo would encroach on Han territory. In 196 BC, the Emperor Gaozu sent Lu Jia on a diplomatic mission to Nanyue to officially recognize Zhao Tuo as a local ruler. Nevertheless, relations between Han and Nanyue were sometimes strained. Zhao Tuo resented Empress Lü's ban on exports of metal wares and female livestock to Nanyue. In 183 BC, he proclaimed himself the "Martial Emperor of the Southern Yue" (南越武帝), which implied a perceived status on equal footing with the Han emperor. Two years later, Nanyue attacked the Changsha Kingdom, a constituent kingdom of the Han empire. In 180 BC, Lu Jia led a diplomatic mission to Nanyue. During negotiations, he succeeded in convincing Zhao Tuo to give up on his title as emperor and pay homage to Han as a nominal vassal.