diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto
index be6cada7fb..b793f61a80 100644
--- a/libraries/mogo-adas-data/src/main/proto/chassis.proto
+++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto
@@ -23,6 +23,7 @@ enum PilotMode {
   MODE_AUTO_DRIVE = 1;
   MODE_STEER_ONLY = 2;
   MODE_SPEED_ONLY = 3;
+  MODE_REMOTE_DRIVE = 6;
 }
 
 enum LongitudeDrivingMode {
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 921c6301b3..236d2fa216 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -97,7 +97,7 @@ message TrackedSource
 
 message TrackedObject
 {
-    uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle,
+    uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle, 
                      //5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
                      //11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown,
                      //501:RoadWork_occupy_0501, 502:RoadWork_break_0502
@@ -125,7 +125,7 @@ message TrackedObjects
 // message definition for MsgTypeGnssInfo
 message GnssInfo
 {
-    double longitude = 1; //经度
+    double longitude = 1; //经度  
     double latitude = 2; //纬度
     double altitude = 3; //海拔
     double heading = 4; //航向角
@@ -143,11 +143,11 @@ message GnssInfo
 // message definition for MessageType: MsgTypeAutopilotState
 message AutopilotState
 {
-    uint32 state = 1; //telematic自动驾驶状态（底盘自动驾驶状态+1） 1:非自动驾驶, 2:自动驾驶中,7:平行驾驶
+    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中, 7:平行驾驶中
     uint32 camera = 2; //camera节点状态 1:开启，0:关闭
     uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
     uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
-    uint32 autopilotMode = 5; //透传底盘自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，6平行驾驶
+    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
     double speed = 6; //惯导车速 m/s
     string reason = 7; //不可用原因(abandoned)
 }
@@ -167,13 +167,13 @@ message AutopilotState
 // message definition for MessageType: MsgTypePlanningObjects
 message PlanningObject
 {
-    uint32 uuid = 1;
+    uint32 uuid = 1; 
     uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事   0是leading障碍物，1是避障和择机的障碍物
 }
 
 message PlanningObjects
 {
-    repeated PlanningObject objs = 1;
+    repeated PlanningObject objs = 1; 
 }
 
 // message definition for MessageType: MsgTypeOBU
@@ -203,7 +203,7 @@ message TrajectoryDownloadReq
 }
 
 // message definition for MessageType: MsgTypeBasicInfoReq
-message BasicInfoReq
+message BasicInfoReq 
 {
 }
 
@@ -226,7 +226,7 @@ message Location
 
 message RouteInfo
 {
-    Location startLocation = 1;
+    Location startLocation = 1;  
     string startName = 2;
     Location endLocation = 3;
     string endName = 4;
@@ -265,7 +265,7 @@ message CarConfigResp
     string macAddress = 3;
     ProtocolVersion protocolVersion = 4; //通信协议版本
     double speedLimit = 5; //自动驾驶限速, 单位：m/s
-    double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s
+    double maxSpeedLimit = 6; //最大自动驾驶限速, 单位：m/s 
     double minAcceleration = 7; //最小加速度, 单位：m/s²
     double maxAcceleration = 8; //最大加速度, 单位：m/s²
 }
@@ -308,7 +308,7 @@ message GlobalPathReq
 // message definition for MsgTypeGlobalPathResp
 message GlobalPathResp
 {
-    repeated Location wayPoints = 1;
+    repeated Location wayPoints = 1; 
 }
 
 // message definition for MsgTypeTrafficLightData
@@ -329,7 +329,7 @@ message TrafficLightDetail
 message TrafficLightData
 {
     string crossID = 1; //roadID
-    double latitude = 2;
+    double latitude = 2; 
     double longitude = 3;
     string heading = 4; //红绿灯方向
     string direction = 5; //路的航向角
diff --git a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
index 8e18ccceb7..d5fb5363e1 100644
--- a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
+++ b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
@@ -3,21 +3,21 @@ syntax = "proto2";
 package system_master;
 
 enum SystemState {
-    SYS_STARTING = 0;                 //系统正在启动
-    SYS_RUNNING = 1;                  //系统运行中
-    SYS_EXITING = 2;                  //系统正在关闭 例如重启
-    SYS_FAULT = 3;                    //系统异常
-    PILOT_READY = 4;                  //自动驾驶准备就绪，轨迹下载完成，可以开始自动驾驶
-    AUTO_PILOT_STARTING = 5;          //正在开始自动驾驶 自动驾驶命令已下发，正在启动中
-    AUTO_PILOT_RUNNING = 6;           //自动驾驶运行中
-    REMOTE_PILOT_STARTING = 7;        //平行驾驶启动中
-    REMOTE_PILOT_RUNNING = 8;         //平行驾驶运行中
+    SYS_STARTING = 0;
+    SYS_RUNNING = 1;
+    SYS_EXITING = 2;
+    SYS_FAULT = 3;
+    PILOT_READY = 4;
+    AUTO_PILOT_STARTING = 5;
+    AUTO_PILOT_RUNNING = 6;
+    REMOTE_PILOT_STARTING = 7;
+    REMOTE_PILOT_RUNNING = 8;
 }
 
 enum HealthState {
-    NORMAL = 0;//正常
-    FAULT = 1;//异常
-    UNKNOW = 2;//未知
+    NORMAL = 0;
+    FAULT = 1;
+    UNKNOW = 2;
 }
 
 message HealthInfo{
@@ -29,19 +29,19 @@ message HealthInfo{
 
 message TopicInfo{
     optional string name = 1;       //topic name
-    optional int32 hz = 2;          //Topic发送的频率
+    optional int32 hz = 2;          
     // optional int32 max_delay = 3;   //unit： msec
 }
 
 message DropTopic{
-    required int32 sum = 1;         //dropped topic sum  有多少个Topic掉帧
+    required int32 sum = 1;         //dropped topic sum
     repeated TopicInfo topic = 2;
 }
 
 
 message StatusInfo {
     required SystemState sys_state=1;        // 当前消息状态
-    repeated HealthInfo health_info=2;       // 健康检查状态信息
+    repeated HealthInfo health_info=2;       // 健康检查状态信息 
     optional DropTopic topic_drop_info=3;    // topic 掉频信息， 如有掉频添加没有不添加
     optional string reserved = 4;            // 预留可选字段，用于接口扩充或者，其他信息补充
 }