Kings of the Han dynasty
The kings from other dynasties (, "yìxìng wáng") were mostly remnants of the rebellion against the Qin dynasty. Following the Dazexiang Uprising, many noblemen rose in rebellion. Heirs, pretenders, and warlords called themselves "kings" and claimed sovereignty as continuations of the six states previously suppressed by Qin. Among these, Chu was the most powerful. However, its rightful ruler Huai II was assassinated on the orders of the warlord Xiang Yu and the 18 Kingdoms Xiang had formed rose in rebellion against him. Liu Bang, king of Han, ultimately defeated Chu and established the new Han dynasty. The kings who had sided with him were then permitted to maintain their titles and lands. A few other kingdoms were also formed by Liu Bang for generals and favorites.
Nanyue
Changsha was, at the time, a feudal kingdom that was part of Han China. Its territory comprised most of modern Hunan Province and part of Jiangxi Province. When Emperor Gaozu of Han enfeoffed Wu Rui as the first King of Changsha, he also gave him the power to govern Nanhai, Xiang, and Guiling Commanderies, which caused strife between Changsha and Nanyue from the start. The Han China-Nanyue border was essentially that of Changsha, and therefore was constantly fortified on both sides. In terms of policies, because the Kingdom of Changsha had no sovereignty whatsoever, any policy of the Han court toward Nanyue was by default also Changsha's policy.