diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
index e10fc5f345..7ee4fe82c2 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
@@ -1,7 +1,6 @@
 package com.zhidao.support.adas.high.msg;
 
 import android.os.SystemClock;
-import android.util.Log;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
@@ -27,7 +26,7 @@ public class ArrivalNotificationMessage extends MyAbstractMessageHandler {
             adasListener.onArrivalNotification(raw.getHeader(), arrivalNotification);
         }
         AdasChannel.calculateTimeConsumingBusiness("到站提醒", nowTime);
-        Log.d("ArrivalNotificationMessage","到站提醒--->" + arrivalNotification.toString());
+//        Log.d("ArrivalNotificationMessage","到站提醒--->" + arrivalNotification.toString());
     }
 
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
index 37615bd09c..0c4e7433ff 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
@@ -11,6 +11,7 @@ import com.zhidao.support.adas.high.protocol.RawData;
 /**
  * 清扫车和Taxi后摄像头
  * 需要主动订阅，否则工控机不会发送此数据
+ * df350 hq340 支持
  */
 public class BackCameraVideoMessage extends MyAbstractMessageHandler {
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java
index 614a4bb40e..a4fd803b24 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/LaneMarksTranMessage.java
@@ -11,7 +11,7 @@ import com.zhidao.support.adas.high.protocol.RawData;
 import perception.LaneMarkOuterClass;
 
 /**
- * 车道线
+ * 车道边界点云
  */
 public class LaneMarksTranMessage extends MyAbstractMessageHandler {
 
@@ -21,13 +21,13 @@ public class LaneMarksTranMessage extends MyAbstractMessageHandler {
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         LaneMarkOuterClass.LaneMarks laneMarks = LaneMarkOuterClass.LaneMarks.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-        AdasChannel.calculateTimeConsumingOnDispatchRaw("车道线", raw.receiveTime);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("车道边界点云", raw.receiveTime);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
             adasListener.onLaneMarksTran(raw.getHeader(), laneMarks);
         }
-        AdasChannel.calculateTimeConsumingBusiness("车道线", nowTime);
+        AdasChannel.calculateTimeConsumingBusiness("车道边界点云", nowTime);
     }
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyAbstractMessageHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyAbstractMessageHandler.java
index 59dcf3d8c3..6420ee123c 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyAbstractMessageHandler.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyAbstractMessageHandler.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;
 
-import com.google.protobuf.util.JsonFormat;
 
 /**
  * @author nie yunlong
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java
index 0c0f4736bc..1b976b7355 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PlanningDecisionStateMessage.java
@@ -4,7 +4,6 @@ import android.os.SystemClock;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
-import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;